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mc_att_control: fix applying not updated thrust setpoint

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This commit is contained in:
Matthias Grob
2019-05-22 12:44:47 +01:00
committed by Lorenz Meier
parent 953e5e5019
commit 1c776f16ec
1 changed files with 6 additions and 0 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+6
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@@ -521,6 +521,12 @@ MulticopterAttitudeControl::control_attitude()
{ {
vehicle_attitude_setpoint_poll(); vehicle_attitude_setpoint_poll();
// reinitialize the setpoint while not armed to make sure no value from the last flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
// physical thrust axis is the negative of body z axis // physical thrust axis is the negative of body z axis
_thrust_sp = -_v_att_sp.thrust_body[2]; _thrust_sp = -_v_att_sp.thrust_body[2];