multiplat pos ctrl: also set yaw sp in manual modes

This is a work-around until #1741 makes it to the multiplatform version

1 files changed, 17 insertions, 2 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 a46163e6f..f765b0b2d 100644
--- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
@@ -297,6 +297,22 @@ MulticopterPositionControl::control_manual(float dt)
 		_sp_move_rate /= sp_move_norm;
 	}
 
+	/* move yaw setpoint */
+	//XXX hardcoded hack until #1741 is in/ported (the values stem
+	//from default param values, see how yaw setpoint is moved in the attitude controller)
+	float yaw_sp_move_rate = _manual_control_sp->data().r * 120.0f * M_DEG_TO_RAD_F;
+	_att_sp_msg.data().yaw_body = _wrap_pi(
+			_att_sp_msg.data().yaw_body + yaw_sp_move_rate * dt);
+	float yaw_offs_max = 120.0f * M_DEG_TO_RAD_F / 2.0f;
+	float yaw_offs = _wrap_pi(_att_sp_msg.data().yaw_body - _att->data().yaw);
+
+	if (yaw_offs < -yaw_offs_max) {
+		_att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw - yaw_offs_max);
+
+	} else if (yaw_offs > yaw_offs_max) {
+		_att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw + yaw_offs_max);
+	}
+
 	/* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */
 	math::Matrix<3, 3> R_yaw_sp;
 	R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp_msg.data().yaw_body);
@@ -627,8 +643,7 @@ void  MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti
 			_att_sp_msg.data().R_valid = true;
 
 			_att_sp_msg.data().roll_body = 0.0f;
-			_att_sp_msg.data().pitch_body = 0.0f;
-			_att_sp_msg.data().yaw_body = _att->data().yaw;
+			// _att_sp_msg.data().yaw_body = _att->data().yaw;
 			_att_sp_msg.data().thrust = 0.0f;
 
 			_att_sp_msg.data().timestamp = get_time_micros();