From 958c61dbba2d8df19dee6fe8d8b5f2e01444de25 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Thu, 11 Aug 2022 11:26:00 +0200 Subject: [PATCH] Populate rate control setpoints properly --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index d5fcf71919..4fb70e6cf8 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -622,9 +622,9 @@ void FixedwingAttitudeControl::Run() * Lazily publish the rate setpoint (for analysis, the actuators are published below) * only once available */ - _rates_sp.roll = _roll_ctrl.get_desired_bodyrate(); - _rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate(); - _rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_bodyrate(); + _rates_sp.roll = _roll_ctrl.get_desired_rate(); + _rates_sp.pitch = _pitch_ctrl.get_desired_rate(); + _rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_rate(); _rates_sp.timestamp = hrt_absolute_time();