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vehicle_local_position_setpoint: make acceleration and jerk arrays

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Matthias Grob
2019-10-24 14:58:57 +02:00
parent 0062390c46
commit 9c25b987bc
9 changed files with 25 additions and 41 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+1 -1
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@@ -69,7 +69,7 @@ bool PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
_pos_sp = Vector3f(setpoint.x, setpoint.y, setpoint.z);
_vel_sp = Vector3f(setpoint.vx, setpoint.vy, setpoint.vz);
_acc_sp = Vector3f(setpoint.acc_x, setpoint.acc_y, setpoint.acc_z);
_acc_sp = Vector3f(setpoint.acceleration);
_thr_sp = Vector3f(setpoint.thrust);
_yaw_sp = setpoint.yaw;
_yawspeed_sp = setpoint.yawspeed;
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -1027,7 +1027,7 @@ MulticopterPositionControl::reset_setpoint_to_nan(vehicle_local_position_setpoin
setpoint.x = setpoint.y = setpoint.z = NAN;
setpoint.vx = setpoint.vy = setpoint.vz = NAN;
setpoint.yaw = setpoint.yawspeed = NAN;
setpoint.acc_x = setpoint.acc_y = setpoint.acc_z = NAN;
setpoint.acceleration[0] = setpoint.acceleration[1] = setpoint.acceleration[2] = NAN;
setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = NAN;
}