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WeatherVane: only update with last row of rotation matrix

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This commit is contained in:
Matthias Grob
2019-10-24 14:58:57 +02:00
parent 9c25b987bc
commit 79334958a9
3 changed files with 8 additions and 11 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -555,7 +555,7 @@ MulticopterPositionControl::Run()
}
}
_wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw);
_wv_controller->update(Quatf(_att_sp.q_d).dcm_z(), _states.yaw);
}
// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes