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PositionControl: fix attitude setpoint timestamp

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The plot of the attitude setpoint in the log did not show any values
because the message timestamp that the position control module sets
was overwritten by the PositionControl attitude generation.
This commit is contained in:
Matthias Grob
2019-11-04 19:11:54 +01:00
parent c6cc9f0902
commit b6de83117e
4 changed files with 7 additions and 9 deletions
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src/modules/mc_pos_control/PositionControl/ControlMath.hpp
+2 -1
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@@ -51,7 +51,8 @@ namespace ControlMath
* @param yaw_sp the desired yaw
* @return vehicle_attitude_setpoints_s structure
*/
vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp);
void thrustToAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp,
vehicle_attitude_setpoint_s &attitude_setpoint);
/**
* Outputs the sum of two vectors but respecting the limits and priority.