From c186f798b60c68c0d10f1a46cb04b0944dc1edbe Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 21 Nov 2022 16:59:43 +0100 Subject: [PATCH] FW Att C: do not directly override actuator_controls[YAW] but only change yaw rate sp Signed-off-by: Silvan Fuhrer --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 72b5ce9f00..e10a5e65b1 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -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())); }