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vehicle local position setpoint: use array for thrust setpoint

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Dennis Mannhart
2018-01-04 09:13:28 +01:00
committed by Beat Küng
parent a74c1116ee
commit 85a263c7bd
3 changed files with 4 additions and 6 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+2 -2
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@@ -90,7 +90,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
_pos_sp = Data(&setpoint.x);
_vel_sp = Data(&setpoint.vx);
_acc_sp = Data(&setpoint.acc_x);
_thr_sp = Data(&setpoint.thr_x);
_thr_sp = Data(setpoint.thr);
_yaw_sp = setpoint.yaw; //integrate
_yawspeed_sp = setpoint.yawspeed;
_interfaceMapping();
@@ -100,7 +100,7 @@ void PositionControl::updateSetpoint(struct vehicle_local_position_setpoint_s se
*/
_skipController = false;
if (PX4_ISFINITE(setpoint.thr_x) && PX4_ISFINITE(setpoint.thr_y) && PX4_ISFINITE(setpoint.thr_z)) {
if (PX4_ISFINITE(setpoint.thr[0]) && PX4_ISFINITE(setpoint.thr[1]) && PX4_ISFINITE(setpoint.thr[2])) {
_skipController = true;
}
}