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use control state topic for attitude and airspeed

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Roman
2015-11-07 11:41:56 +01:00
parent 2719789b2e
commit 120fd9d522
1 changed files with 4 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+4 -2
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@@ -1457,7 +1457,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_runway_takeoff.runwayTakeoffEnabled()) {
if (!_runway_takeoff.isInitialized()) {
_runway_takeoff.init(_att.yaw, _global_pos.lat, _global_pos.lon);
math::Quaternion q(&_ctrl_state.q[0]);
math::Vector<3> euler = q.to_euler();
_runway_takeoff.init(euler(2), _global_pos.lat, _global_pos.lon);
/* need this already before takeoff is detected
* doesn't matter if it gets reset when takeoff is detected eventually */
@@ -1470,7 +1472,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// update runway takeoff helper
_runway_takeoff.update(
_airspeed.true_airspeed_m_s,
_ctrl_state.airspeed,
_global_pos.alt - terrain_alt,
_global_pos.lat,
_global_pos.lon,