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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-25 18:21:24 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-25 18:21:24 +0100 |
| commit | acb4844939f971a1a33515316f5e6c7c8f668f12 (patch) | |
| tree | cebf3e197c1bac181f0ca7890469376ae7478185 /src/modules/mc_att_control/mc_att_control_base.cpp | |
| parent | 195472fddf0242bfb881aef9e53d910c81a2b003 (diff) | |
| download | px4-firmware-acb4844939f971a1a33515316f5e6c7c8f668f12.tar.gz px4-firmware-acb4844939f971a1a33515316f5e6c7c8f668f12.tar.bz2 px4-firmware-acb4844939f971a1a33515316f5e6c7c8f668f12.zip | |
don't publish att sp in altctl because it can mask the setpoint from the pos controller
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_base.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_base.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_base.cpp b/src/modules/mc_att_control/mc_att_control_base.cpp index 2315e0a99..aff59778e 100644 --- a/src/modules/mc_att_control/mc_att_control_base.cpp +++ b/src/modules/mc_att_control/mc_att_control_base.cpp @@ -135,7 +135,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } _v_att_sp_mod.R_valid = false; - _publish_att_sp = true; + // _publish_att_sp = true; } /* reset yaw setpint to current position if needed */ @@ -143,7 +143,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) _reset_yaw_sp = false; _v_att_sp_mod.yaw_body = _v_att->get().yaw; _v_att_sp_mod.R_valid = false; - _publish_att_sp = true; + // _publish_att_sp = true; } if (!_v_control_mode->get().flag_control_velocity_enabled) { @@ -152,7 +152,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) _v_att_sp_mod.pitch_body = -_manual_control_sp->get().x * _params.man_pitch_max; _v_att_sp_mod.R_valid = false; - _publish_att_sp = true; + // _publish_att_sp = true; } } else { |