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Merge pull request #2095 from EwoudSmeur/indi_setpoint

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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
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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);
}
/**