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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-05 21:53:05 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-06 21:07:43 +0100 |
| commit | 69f50bea8c99b1adb6b5caaa84f10a4cc390e7e3 (patch) | |
| tree | 983bf44e0e594dec7d97afcdaa7f11896765d177 | |
| parent | c0f1d841afd7f2e6aae83b705f25a21727fb184e (diff) | |
| download | px4-firmware-69f50bea8c99b1adb6b5caaa84f10a4cc390e7e3.tar.gz px4-firmware-69f50bea8c99b1adb6b5caaa84f10a4cc390e7e3.tar.bz2 px4-firmware-69f50bea8c99b1adb6b5caaa84f10a4cc390e7e3.zip | |
multiplat mc pos ctrl: reset yaw sp with alt sp
This is a work-around until #1741 makes it to the multiplatform version
| -rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index f765b0b2d..b7fce5029 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -245,6 +245,10 @@ MulticopterPositionControl::reset_alt_sp() _reset_alt_sp = false; _pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2); + //XXX hack until #1741 is in/ported + /* reset yaw sp */ + _att_sp_msg.data().yaw_body = _att->data().yaw; + //XXX: port this once a mavlink like interface is available // mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %d", -(int)_pos_sp(2)); PX4_INFO("[mpc] reset alt sp: %2.3f", -(double)_pos_sp(2)); |