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WIP add attitude setpoints

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Jaeyoung Lim
2022-07-04 18:54:27 +02:00
parent d4698d4ef7
commit ae0a35847a
1 changed files with 1 additions and 0 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@@ -503,6 +503,7 @@ void FixedwingAttitudeControl::Run()
if (_vcontrol_mode.flag_control_attitude_enabled) {
if (PX4_ISFINITE(_att_sp.roll_body) && PX4_ISFINITE(_att_sp.pitch_body)) {
/* Run ATTITUDE controller */
_attitude_control.setAttitudeSetpoint(Quatf(vehicle_attitude_setpoint.q_d), vehicle_attitude_setpoint.yaw_sp_move_rate);
rates_setpoint = _attitude_control.update(Quatf(att.q));
if (wheel_control) {