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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-04 13:23:17 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-15 10:13:49 +0100 |
| commit | d1e9868b9b34d90e431f292656158b429343c11c (patch) | |
| tree | 43a179687fad35eeee70eb2e0bf46b36620cd9f8 /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | d2940462455652add86e454be3376f2c23b822bb (diff) | |
| download | px4-firmware-d1e9868b9b34d90e431f292656158b429343c11c.tar.gz px4-firmware-d1e9868b9b34d90e431f292656158b429343c11c.tar.bz2 px4-firmware-d1e9868b9b34d90e431f292656158b429343c11c.zip | |
fw att: add acceleration to control_input
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 5dfc82747..6e49bd1d1 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -954,6 +954,9 @@ FixedwingAttitudeControl::task_main() control_input.speed_body_u = speed_body_u; control_input.speed_body_v = speed_body_v; control_input.speed_body_w = speed_body_w; + control_input.acc_body_x = _accel.x; + control_input.acc_body_y = _accel.y; + control_input.acc_body_z = _accel.z; control_input.roll_setpoint = roll_sp; control_input.pitch_setpoint = pitch_sp; control_input.airspeed_min = _parameters.airspeed_min; |