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FW Att C: do not directly override actuator_controls[YAW] but only change yaw rate sp

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer 2022-11-21 16:59:43 +01:00 committed by Daniel Agar
parent 08cdb96f77
commit c186f798b6
1 changed files with 0 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@ -551,7 +551,6 @@ void FixedwingAttitudeControl::Run()
/* add yaw rate setpoint from sticks in Stabilized mode */
if (_vcontrol_mode.flag_control_manual_enabled) {
_actuator_controls.control[actuator_controls_s::INDEX_YAW] += _manual_control_setpoint.r;
body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.r * radians(_param_fw_y_rmax.get()),
-radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
}