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don't publish att sp in altctl because it can mask the setpoint from the pos controller

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Thomas Gubler
2014-12-25 18:21:24 +01:00
parent 195472fddf
commit acb4844939
1 changed files with 3 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_base.cpp
+3 -3
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@@ -135,7 +135,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
}
_v_att_sp_mod.R_valid = false;
_publish_att_sp = true;
// _publish_att_sp = true;
}
/* reset yaw setpint to current position if needed */
@@ -143,7 +143,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
_reset_yaw_sp = false;
_v_att_sp_mod.yaw_body = _v_att->get().yaw;
_v_att_sp_mod.R_valid = false;
_publish_att_sp = true;
// _publish_att_sp = true;
}
if (!_v_control_mode->get().flag_control_velocity_enabled) {
@@ -152,7 +152,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
_v_att_sp_mod.pitch_body = -_manual_control_sp->get().x
* _params.man_pitch_max;
_v_att_sp_mod.R_valid = false;
_publish_att_sp = true;
// _publish_att_sp = true;
}
} else {