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run l1 during transition

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RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent 1f60a86d32
commit b6a80253d7
2 changed files with 6 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+4
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@@ -264,6 +264,9 @@ void Standard::update_transition_state()
// ramp up FW_PSP_OFF
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset * (1.0f - mc_weight);
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);
@@ -279,6 +282,7 @@ void Standard::update_transition_state()
// maintain FW_PSP_OFF
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
_v_att_sp->roll_body = _fw_virtual_att_sp->roll_body;
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);