From f7c0518a614b01fc316c1026aea2d84fa3f33049 Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 30 Mar 2016 21:05:26 +0200 Subject: [PATCH] log pitch setpoint after modifying it --- src/modules/vtol_att_control/standard.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 3b5e627679..c9627a227d 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -314,6 +314,7 @@ void Standard::update_mc_state() euler(1) = pitch_sp_corrected; R_sp.from_euler(euler(0), euler(1), euler(2)); memcpy(&_v_att_sp->R_body[0], R_sp.data, sizeof(_v_att_sp->R_body)); + _v_att_sp->pitch_body = pitch_sp_corrected; math::Quaternion q_sp; q_sp.from_dcm(R_sp); memcpy(&_v_att_sp->q_d[0], &q_sp.data[0], sizeof(_v_att_sp->q_d));