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mc_att_control: remove direct setting of att sp in Stabilized

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Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-01-16 17:01:06 +01:00 committed by Daniel Agar
parent 3576d513cd
commit e5cfbbb1ee
1 changed files with 0 additions and 8 deletions
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8
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -192,14 +192,6 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
attitude_setpoint.timestamp = hrt_absolute_time();
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
// update attitude controller setpoint immediately (don't do it in vtol transition, then the VTOL module generates the attitude setpoint)
if (!_vtol_in_transition_mode) {
_attitude_control.setAttitudeSetpoint(q_sp, attitude_setpoint.yaw_sp_move_rate);
_thrust_setpoint_body = Vector3f(attitude_setpoint.thrust_body);
}
_last_attitude_setpoint = attitude_setpoint.timestamp;
}
void