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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 17:46:22 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-28 17:46:22 +0100 |
| commit | 9245f28fb84e87505c6024121720bbd0776e64a0 (patch) | |
| tree | 008ed169aba824bbdd8401d41a6d3ae30e2e1567 | |
| parent | a6ca4c2796a825ac1878c1d570afc0afc4fed74d (diff) | |
| download | px4-firmware-9245f28fb84e87505c6024121720bbd0776e64a0.tar.gz px4-firmware-9245f28fb84e87505c6024121720bbd0776e64a0.tar.bz2 px4-firmware-9245f28fb84e87505c6024121720bbd0776e64a0.zip | |
mc attctl multiplatform: fix memcpy
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp index fcfee28dc..5577c5f03 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp @@ -97,7 +97,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) if (_v_control_mode->data().flag_control_velocity_enabled || _v_control_mode->data().flag_control_climb_rate_enabled) { /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod)); + //XXX get rid of memcpy + memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data())); } if (!_v_control_mode->data().flag_control_climb_rate_enabled) { @@ -156,7 +157,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } else { /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod)); + //XXX get rid of memcpy + memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data())); /* reset yaw setpoint after non-manual control mode */ _reset_yaw_sp = true; |