diff options
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 8 |
1 files changed, 6 insertions, 2 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 c828f1f94..f20bba52e 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -67,7 +67,11 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_virtual_fw.h> +#include <uORB/topics/actuator_controls_virtual_mc.h> #include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/fw_virtual_rates_setpoint.h> +#include <uORB/topics/mc_virtual_rates_setpoint.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_status.h> @@ -619,14 +623,14 @@ MulticopterAttitudeControl::control_attitude(float dt) if (_v_att_sp.R_valid) { /* rotation matrix in _att_sp is valid, use it */ - R_sp.set(&_v_att_sp.R_body[0][0]); + R_sp.set(&_v_att_sp.R_body[0]); } else { /* rotation matrix in _att_sp is not valid, use euler angles instead */ R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0][0], &R_sp.data[0][0], sizeof(_v_att_sp.R_body)); + memcpy(&_v_att_sp.R_body[0], &R_sp.data[0], sizeof(_v_att_sp.R_body)); _v_att_sp.R_valid = true; } |