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FixedwingPositionControl: Used corrected npfg roll output in path mode

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Konrad
2024-02-13 17:17:44 +01:00
committed by Silvan Fuhrer
parent 1a1891073e
commit cb09dde606
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+1 -1
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@@ -1388,7 +1388,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
0.0f; 0.0f;
navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature); navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
_att_sp.roll_body = _npfg.getRollSetpoint(); _att_sp.roll_body = getCorrectedNpfgRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas; target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw