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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 08:08:14 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 08:08:14 +0200 |
| commit | 81525f6d8ad0c988cb666c0d8015e52ebdccaeb4 (patch) | |
| tree | 89b53acac3ce7d4018cc366a7d3a6723341bac65 /src/modules/mc_att_control/mc_att_control_main.cpp | |
| parent | 848c1c2552996281685d2691c1b394f25a4391b3 (diff) | |
| parent | e7ebcd6c572fe3550fd626530eb69b818e31be4a (diff) | |
| download | px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.tar.gz px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.tar.bz2 px4-firmware-81525f6d8ad0c988cb666c0d8015e52ebdccaeb4.zip | |
Merge branch 'master' of github.com:PX4/Firmware into ekf_params
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 6b0c44fb3..36d95bf06 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt); + yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; publish_att_sp = true; } |