Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 31 Packages Projects Releases Wiki Activity

Merge pull request #2095 from EwoudSmeur/indi_setpoint

Browse Source 
Fix INDI rpy setpoint function
This commit is contained in:
Ewoud Smeur
2017-08-03 17:29:49 +02:00
committed by GitHub
parent 407bc0d843 17d300c3db
commit aab1ba9d47
2 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+2 -2
View File
@@ -306,9 +306,9 @@ void stabilization_indi_set_failsafe_setpoint(void)
void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
{
// stab_att_sp_euler.psi still used in ref..
memcpy(&stab_att_sp_euler, rpy, sizeof(struct Int32Eulers));
stab_att_sp_euler = *rpy;
quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
}
/**
sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+1 -1
View File
@@ -196,7 +196,7 @@ void stabilization_indi_set_rpy_setpoint_i(struct Int32Eulers *rpy)
// stab_att_sp_euler.psi still used in ref..
stab_att_sp_euler = *rpy;
quat_from_rpy_cmd_i(&stab_att_sp_quat, &stab_att_sp_euler);
int32_quat_of_eulers(&stab_att_sp_quat, &stab_att_sp_euler);
}
/**