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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-22 14:18:06 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-02-24 20:33:32 +0100 |
| commit | a284a9838380f26a6d3d3eb6537e6debaf623ac5 (patch) | |
| tree | d3e5e61762595d87e1f65479cbca51ce2f38d975 /src/modules | |
| parent | 4bc2d5f6879c320a3a9b7e86617ae718f156c7d3 (diff) | |
| download | px4-firmware-a284a9838380f26a6d3d3eb6537e6debaf623ac5.tar.gz px4-firmware-a284a9838380f26a6d3d3eb6537e6debaf623ac5.tar.bz2 px4-firmware-a284a9838380f26a6d3d3eb6537e6debaf623ac5.zip | |
mc pos multi: set R valid in attitude sp in manual mode
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp index c220b05c4..2e14b744f 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -1007,6 +1007,7 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti /* Construct attitude setpoint rotation matrix */ math::Matrix<3,3> R_sp; R_sp.from_euler(_att_sp_msg.data().roll_body,_att_sp_msg.data().pitch_body,_att_sp_msg.data().yaw_body); + _att_sp_msg.data().R_valid = true; memcpy(&_att_sp_msg.data().R_body[0], R_sp.data, sizeof(_att_sp_msg.data().R_body)); _att_sp_msg.data().timestamp = get_time_micros(); } |