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mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing

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This commit is contained in:
Daniel Agar 2019-06-05 20:56:28 -04:00
parent ca5651bd8b
commit cecd009ddc
1 changed files with 2 additions and 3 deletions
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5
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -687,10 +687,9 @@ MulticopterAttitudeControl::run()
}
control_attitude();
if (_v_control_mode.flag_control_yawrate_override_enabled)
{
if (_v_control_mode.flag_control_yawrate_override_enabled) {
/* Yaw rate override enabled, overwrite the yaw setpoint */
vehicle_rates_setpoint_poll();
_v_rates_sp_sub.update(&_v_rates_sp);
const auto yawrate_reference = _v_rates_sp.yaw;
_rates_sp(2) = yawrate_reference;
}