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mc att control: use new manual control setpoint variable names

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This commit is contained in:
Thomas Gubler
2014-05-12 09:24:06 +02:00
parent 6d9ea86bc9
commit de4c456196
1 changed files with 4 additions and 4 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+4 -4
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@@ -478,7 +478,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_climb_rate_enabled) {
/* pass throttle directly if not in altitude stabilized mode */
_v_att_sp.thrust = _manual_control_sp.throttle;
_v_att_sp.thrust = _manual_control_sp.z;
publish_att_sp = true;
}
@@ -496,7 +496,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
//}
} else {
/* move yaw setpoint */
yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max;
yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max;
_v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt);
_v_att_sp.R_valid = false;
publish_att_sp = true;
@@ -512,8 +512,8 @@ MulticopterAttitudeControl::control_attitude(float dt)
if (!_v_control_mode.flag_control_velocity_enabled) {
/* update attitude setpoint if not in position control mode */
_v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max;
_v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max;
_v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max;
_v_att_sp.R_valid = false;
publish_att_sp = true;
}