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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 23:58:13 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 23:58:13 +0400 |
| commit | 2b4af6635708be2248abf53edb65a9223fedcd6a (patch) | |
| tree | 5c4d13efdeb0e21cb9ded28ca992a022bb206c45 /src/modules/mc_att_control | |
| parent | 55f5f1815f6a8f2efb969cea2eb061bdc2d9b92a (diff) | |
| download | px4-firmware-2b4af6635708be2248abf53edb65a9223fedcd6a.tar.gz px4-firmware-2b4af6635708be2248abf53edb65a9223fedcd6a.tar.bz2 px4-firmware-2b4af6635708be2248abf53edb65a9223fedcd6a.zip | |
mc_att_control: poll vehicle_rates_setpoint if attitude controller disabled
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 10 |
1 files changed, 6 insertions, 4 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 e92b7f375..b5df83d85 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -761,10 +761,12 @@ MulticopterAttitudeControl::task_main() } } else { - /* attitude controller disabled */ - // TODO poll 'attitude_rates_setpoint' topic - _rates_sp.zero(); - _thrust_sp = 0.0f; + /* attitude controller disabled, poll rates setpoint topic */ + vehicle_rates_setpoint_poll(); + _rates_sp(0) = _v_rates_sp.roll; + _rates_sp(1) = _v_rates_sp.pitch; + _rates_sp(2) = _v_rates_sp.yaw; + _thrust_sp = _v_rates_sp.thrust; } if (_v_control_mode.flag_control_rates_enabled) { |