fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 20:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: ATTITUDE_TARGET thrust use thrust_body magnitude

Browse Source 
- vehicle_attitude_setpoint thrust_body is a vector, but mavlink ATTITUDE_TARGET thrust is only a magnitude
 - this allows the stream to be correct for both MC & FW use cases
This commit is contained in:
Benoit Landry
2021-02-01 18:31:36 -08:00
committed by GitHub
parent 13e875645c
commit 8b0ec5a78e
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/ATTITUDE_TARGET.hpp
+1 -1
View File
@@ -100,7 +100,7 @@ protected:
msg.body_pitch_rate = att_rates_sp.pitch;
msg.body_yaw_rate = att_rates_sp.yaw;
msg.thrust = att_sp.thrust_body[0];
msg.thrust = Vector3f(att_sp.thrust_body).norm();
mavlink_msg_attitude_target_send_struct(_mavlink->get_channel(), &msg);