diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/mc_att_control/mc_att_control.cpp b/src/modules/mc_att_control/mc_att_control.cpp index bbda1f8aa..59eaaec6d 100644 --- a/src/modules/mc_att_control/mc_att_control.cpp +++ b/src/modules/mc_att_control/mc_att_control.cpp @@ -214,7 +214,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi dt = 0.02f; } - if (_v_control_mode.flag_control_attitude_enabled) { + if (_v_control_mode->get().flag_control_attitude_enabled) { control_attitude(dt); /* publish the attitude setpoint if needed */ @@ -245,11 +245,11 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi } else { /* attitude controller disabled, poll rates setpoint topic */ - if (_v_control_mode.flag_control_manual_enabled) { + if (_v_control_mode->get().flag_control_manual_enabled) { /* manual rates control - ACRO mode */ - _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; + _rates_sp = math::Vector<3>(_manual_control_sp->get().y, -_manual_control_sp->get().x, + _manual_control_sp->get().r).emult(_params.acro_rate_max); + _thrust_sp = _manual_control_sp->get().z; /* reset yaw setpoint after ACRO */ _reset_yaw_sp = true; @@ -278,7 +278,7 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const PX4_TOPIC_T(vehi } } - if (_v_control_mode.flag_control_rates_enabled) { + if (_v_control_mode->get().flag_control_rates_enabled) { control_attitude_rates(dt); /* publish actuator controls */ |