fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 16:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

PositionControl: add getter for output attitude setpoint

Browse Source
This commit is contained in:
Matthias Grob
2019-10-22 19:11:47 +02:00
parent 198605d258
commit f70d4d21a1
3 changed files with 19 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+6
View File
@@ -365,6 +365,12 @@ void PositionControl::getLocalPositionSetpoint(vehicle_local_position_setpoint_s
_thr_sp.copyTo(local_position_setpoint.thrust);
}
void PositionControl::getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint)
{
attitude_setpoint = ControlMath::thrustToAttitude(_thr_sp, _yaw_sp);
attitude_setpoint.yaw_sp_move_rate = _yawspeed_sp;
}
void PositionControl::updateParams()
{
ModuleParams::updateParams();