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weathervane: get rid of passive strategy

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-09-18 20:06:55 +02:00
committed by Lorenz Meier
parent 0e835cb498
commit 96f3feb088
9 changed files with 1 additions and 95 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-2
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@@ -753,7 +753,6 @@ MulticopterPositionControl::task_main()
_att_sp = ControlMath::thrustToAttitude(thr_sp, _control.getYawSetpoint());
_att_sp.yaw_sp_move_rate = _control.getYawspeedSetpoint();
_att_sp.fw_control_yaw = false;
_att_sp.disable_mc_yaw_control = false;
_att_sp.apply_flaps = false;
if (!constraints.landing_gear) {
@@ -779,7 +778,6 @@ MulticopterPositionControl::task_main()
_att_sp.yaw_body = _local_pos.yaw;
_att_sp.yaw_sp_move_rate = 0.0f;
_att_sp.fw_control_yaw = false;
_att_sp.disable_mc_yaw_control = false;
_att_sp.apply_flaps = false;
matrix::Quatf q_sp = matrix::Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body);
q_sp.copyTo(_att_sp.q_d);