diff options
| -rw-r--r-- | src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp index fcfee28dc..5577c5f03 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp @@ -97,7 +97,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) if (_v_control_mode->data().flag_control_velocity_enabled || _v_control_mode->data().flag_control_climb_rate_enabled) { /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod)); + //XXX get rid of memcpy + memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data())); } if (!_v_control_mode->data().flag_control_climb_rate_enabled) { @@ -156,7 +157,8 @@ void MulticopterAttitudeControlBase::control_attitude(float dt) } else { /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - memcpy(&_v_att_sp_mod, &_v_att_sp->data(), sizeof(_v_att_sp_mod)); + //XXX get rid of memcpy + memcpy(&(_v_att_sp_mod.data()), &_v_att_sp->data(), sizeof(_v_att_sp_mod.data())); /* reset yaw setpoint after non-manual control mode */ _reset_yaw_sp = true; |