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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 23:58:58 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-17 23:58:58 +0400 |
| commit | 969f564a132e7b14e94028798ca5a4d6c5f13244 (patch) | |
| tree | 26bf72bdd0521d0fe42728e448d93475c1d5bea2 /src/modules/mc_att_control | |
| parent | 2b4af6635708be2248abf53edb65a9223fedcd6a (diff) | |
| download | px4-firmware-969f564a132e7b14e94028798ca5a4d6c5f13244.tar.gz px4-firmware-969f564a132e7b14e94028798ca5a4d6c5f13244.tar.bz2 px4-firmware-969f564a132e7b14e94028798ca5a4d6c5f13244.zip | |
mc_att_control: code style fixed
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 9 |
1 files changed, 5 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 b5df83d85..01902ed0c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -531,6 +531,7 @@ MulticopterAttitudeControl::control_attitude(float dt) /* construct attitude setpoint rotation matrix */ math::Matrix<3, 3> R_sp; + if (_v_att_sp.R_valid) { /* rotation matrix in _att_sp is valid, use it */ R_sp.set(&_v_att_sp.R_body[0][0]); @@ -762,10 +763,10 @@ MulticopterAttitudeControl::task_main() } else { /* 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; + 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; } |