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had the wrong setpoint structure

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andre-nguyen
2014-06-04 00:06:55 -04:00
parent abbf57dac6 f1b6a3f44f
commit 915ed5aa1f
1 changed files with 12 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+12
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@@ -685,6 +685,18 @@ MulticopterPositionControl::task_main()
_pos_sp(1) = _offboard_control_pos_sp.y;
_pos_sp(2) = _offboard_control_pos_sp.z;
_att_sp.yaw_body = _offboard_control_pos_sp.yaw;
/* Make sure position control is selected i.e. not only velocity control */
if (_control_mode.flag_control_position_enabled) {
_pos_sp(0) = _offboard_control_pos_sp.x;
_pos_sp(1) = _offboard_control_pos_sp.y;
}
if (_control_mode.flag_control_altitude_enabled) {
_pos_sp(2) = _offboard_control_pos_sp.z;
}
_att_sp.yaw_body = _offboard_control_pos_sp.yaw;
} else {
/* AUTO */