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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 16:40:44 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-20 16:40:44 +0200 |
| commit | d8ef397b07280a2631076c2f92b950d64684a8ed (patch) | |
| tree | d953ec2226cd590d3e85b01740420fe35647800c /src/modules | |
| parent | b12928548c8254ce305f0d96c1b1007b42005be4 (diff) | |
| download | px4-firmware-d8ef397b07280a2631076c2f92b950d64684a8ed.tar.gz px4-firmware-d8ef397b07280a2631076c2f92b950d64684a8ed.tar.bz2 px4-firmware-d8ef397b07280a2631076c2f92b950d64684a8ed.zip | |
mc_att_control: reset yaw setpoint after ACRO
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 3 |
1 files changed, 3 insertions, 0 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 77c7c61e9..20e016da3 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -803,6 +803,9 @@ MulticopterAttitudeControl::task_main() _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); _thrust_sp = _manual_control_sp.z; + /* reset yaw setpoint after ACRO */ + _reset_yaw_sp = true; + /* publish attitude rates setpoint */ _v_rates_sp.roll = _rates_sp(0); _v_rates_sp.pitch = _rates_sp(1); |