diff options
| -rw-r--r-- | src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 19 |
1 files changed, 2 insertions, 17 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 303123202..e649c28a5 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -300,22 +300,6 @@ MulticopterPositionControl::control_manual(float dt) _sp_move_rate /= sp_move_norm; } - /* move yaw setpoint */ - //XXX hardcoded hack until #1741 is in/ported (the values stem - //from default param values, see how yaw setpoint is moved in the attitude controller) - float yaw_sp_move_rate = _manual_control_sp->data().r * 120.0f * M_DEG_TO_RAD_F; - _att_sp_msg.data().yaw_body = _wrap_pi( - _att_sp_msg.data().yaw_body + yaw_sp_move_rate * dt); - float yaw_offs_max = 120.0f * M_DEG_TO_RAD_F / 2.0f; - float yaw_offs = _wrap_pi(_att_sp_msg.data().yaw_body - _att->data().yaw); - - if (yaw_offs < -yaw_offs_max) { - _att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw - yaw_offs_max); - - } else if (yaw_offs > yaw_offs_max) { - _att_sp_msg.data().yaw_body = _wrap_pi(_att->data().yaw + yaw_offs_max); - } - /* _sp_move_rate scaled to 0..1, scale it to max speed and rotate around yaw */ math::Matrix<3, 3> R_yaw_sp; R_yaw_sp.from_euler(0.0f, 0.0f, _att_sp_msg.data().yaw_body); @@ -643,7 +627,8 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti _att_sp_msg.data().R_valid = true; _att_sp_msg.data().roll_body = 0.0f; - // _att_sp_msg.data().yaw_body = _att->data().yaw; + _att_sp_msg.data().pitch_body = 0.0f; + _att_sp_msg.data().yaw_body = _att->data().yaw; _att_sp_msg.data().thrust = 0.0f; _att_sp_msg.data().timestamp = get_time_micros(); |