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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/uuv_att_control/uuv_att_control.cpp
+3 -3
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@@ -280,9 +280,9 @@ void UUVAttitudeControl::Run()
// returning immediately and this loop will eat up resources.
if (_vcontrol_mode.flag_control_manual_enabled && !_vcontrol_mode.flag_control_rates_enabled) {
/* manual/direct control */
constrain_actuator_commands(_manual_control_setpoint.chosen_input.y, -_manual_control_setpoint.chosen_input.x,
_manual_control_setpoint.chosen_input.r,
_manual_control_setpoint.chosen_input.z, 0.f, 0.f);
constrain_actuator_commands(_manual_control_setpoint.y, -_manual_control_setpoint.x,
_manual_control_setpoint.r,
_manual_control_setpoint.z, 0.f, 0.f);
}
}