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Populate rate control setpoints properly

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This commit is contained in:
Jaeyoung Lim
2022-08-19 09:40:48 +02:00
committed by Silvan Fuhrer
parent 6f24f4cd1c
commit 958c61dbba
1 changed files with 3 additions and 3 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+3 -3
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@@ -622,9 +622,9 @@ void FixedwingAttitudeControl::Run()
* Lazily publish the rate setpoint (for analysis, the actuators are published below) * Lazily publish the rate setpoint (for analysis, the actuators are published below)
* only once available * only once available
*/ */
_rates_sp.roll = _roll_ctrl.get_desired_bodyrate(); _rates_sp.roll = _roll_ctrl.get_desired_rate();
_rates_sp.pitch = _pitch_ctrl.get_desired_bodyrate(); _rates_sp.pitch = _pitch_ctrl.get_desired_rate();
_rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_bodyrate(); _rates_sp.yaw = (wheel_control) ? _wheel_ctrl.get_desired_rate() : _yaw_ctrl.get_desired_rate();
_rates_sp.timestamp = hrt_absolute_time(); _rates_sp.timestamp = hrt_absolute_time();