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mc_att_control: reset yaw setpoint after ACRO

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Anton Babushkin
2014-05-20 16:40:44 +02:00
parent b12928548c
commit d8ef397b07
1 changed files with 3 additions and 0 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+3
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@@ -803,6 +803,9 @@ MulticopterAttitudeControl::task_main()
_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
_thrust_sp = _manual_control_sp.z; _thrust_sp = _manual_control_sp.z;
/* reset yaw setpoint after ACRO */
_reset_yaw_sp = true;
/* publish attitude rates setpoint */ /* publish attitude rates setpoint */
_v_rates_sp.roll = _rates_sp(0); _v_rates_sp.roll = _rates_sp(0);
_v_rates_sp.pitch = _rates_sp(1); _v_rates_sp.pitch = _rates_sp(1);