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FW Attitude Controller: fix polling of rate setpoint for tailsitter

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-22 16:33:38 +02:00
committed by JaeyoungLim
parent ed16354413
commit 300288b57e
2 changed files with 1 additions and 14 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+1 -13
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@@ -199,18 +199,6 @@ FixedwingAttitudeControl::vehicle_attitude_setpoint_poll()
} }
} }
void
FixedwingAttitudeControl::vehicle_rates_setpoint_poll()
{
if (_rates_sp_sub.update(&_rates_sp)) {
if (_vehicle_status.is_vtol_tailsitter) {
float tmp = _rates_sp.roll;
_rates_sp.roll = -_rates_sp.yaw;
_rates_sp.yaw = tmp;
}
}
}
void void
FixedwingAttitudeControl::vehicle_land_detected_poll() FixedwingAttitudeControl::vehicle_land_detected_poll()
{ {
@@ -580,7 +568,7 @@ void FixedwingAttitudeControl::Run()
} }
if (_vcontrol_mode.flag_control_rates_enabled) { if (_vcontrol_mode.flag_control_rates_enabled) {
vehicle_rates_setpoint_poll(); _rates_sp_sub.update(&_rates_sp);
const Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw); const Vector3f body_rates_setpoint = Vector3f(_rates_sp.roll, _rates_sp.pitch, _rates_sp.yaw);
src/modules/fw_att_control/FixedwingAttitudeControl.hpp
-1
View File
@@ -274,7 +274,6 @@ private:
void vehicle_control_mode_poll(); void vehicle_control_mode_poll();
void vehicle_manual_poll(const float yaw_body); void vehicle_manual_poll(const float yaw_body);
void vehicle_attitude_setpoint_poll(); void vehicle_attitude_setpoint_poll();
void vehicle_rates_setpoint_poll();
void vehicle_land_detected_poll(); void vehicle_land_detected_poll();
float get_airspeed_and_update_scaling(); float get_airspeed_and_update_scaling();