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Trajectory - Add position lock-unlock logic and proper initialization from controller feedback

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bresch
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent 84665672ad
commit 6a7ce651bc
7 changed files with 59 additions and 18 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -768,6 +768,7 @@ MulticopterPositionControl::run()
// Publish local position setpoint (for logging only) and attitude setpoint (for attitude controller).
publish_local_pos_sp(local_pos_sp);
_flight_tasks.updateVelocityControllerIO(_control.getVelSp(), thr_sp); // Inform FlightTask about the input and output of the velocity controller
// Fill attitude setpoint. Attitude is computed from yaw and thrust setpoint.
_att_sp = ControlMath::thrustToAttitude(thr_sp, _control.getYawSetpoint());