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mc attctl multiplatform: fix memcpy

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This commit is contained in:
Thomas Gubler
2015-01-28 17:46:22 +01:00
parent a6ca4c2796
commit 9245f28fb8
1 changed files with 4 additions and 2 deletions
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src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp
+4 -2
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@@ -97,7 +97,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
if (_v_control_mode->data().flag_control_velocity_enabled
|| _v_control_mode->data().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod));
//XXX get rid of memcpy
memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data()));
}
if (!_v_control_mode->data().flag_control_climb_rate_enabled) {
@@ -156,7 +157,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod));
//XXX get rid of memcpy
memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data()));
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;