diff options
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_controller.h | 3 | ||||
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 3 |
2 files changed, 6 insertions, 0 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_controller.h b/src/lib/ecl/attitude_fw/ecl_controller.h index 9880d1c17..254052964 100644 --- a/src/lib/ecl/attitude_fw/ecl_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_controller.h @@ -62,6 +62,9 @@ struct ECL_ControlData { float speed_body_u; float speed_body_v; float speed_body_w; + float acc_body_x; + float acc_body_y; + float acc_body_z; float roll_setpoint; float pitch_setpoint; float yaw_setpoint; diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 5dfc82747..6e49bd1d1 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -954,6 +954,9 @@ FixedwingAttitudeControl::task_main() control_input.speed_body_u = speed_body_u; control_input.speed_body_v = speed_body_v; control_input.speed_body_w = speed_body_w; + control_input.acc_body_x = _accel.x; + control_input.acc_body_y = _accel.y; + control_input.acc_body_z = _accel.z; control_input.roll_setpoint = roll_sp; control_input.pitch_setpoint = pitch_sp; control_input.airspeed_min = _parameters.airspeed_min; |