fly316/PX4-Autopilot
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ensure attitude setpoint initialization before arming

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- On initialization _v_att_sp got filled with zeros
  leaving invalid quaternions
- While not armed mc_pos_control did not publish any
  attitude setpoint which makes no sense
- The attitude control just uses the data in _v_att_sp
  if it was (ever) updated or not
This commit is contained in:
Matthias Grob
2018-03-15 17:16:14 +01:00
parent e32b04fff1
commit ff25c7f48a
2 changed files with 8 additions and 6 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+4
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@@ -389,6 +389,10 @@ _loop_update_rate_hz(initial_update_rate_hz)
_vehicle_status.is_rotary_wing = true;
/* initialize quaternions in messages to be valid */
_v_att.q[0] = 1.f;
_v_att_sp.q_d[0] = 1.f;
_params.rate_p.zero();
_params.rate_i.zero();
_params.rate_int_lim.zero();