diff options
Diffstat (limited to 'src/modules/mc_att_control')
-rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 9 |
1 files changed, 5 insertions, 4 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 b5df83d85..01902ed0c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -531,6 +531,7 @@ MulticopterAttitudeControl::control_attitude(float dt) /* construct attitude setpoint rotation matrix */ math::Matrix<3, 3> R_sp; + 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]); @@ -762,10 +763,10 @@ MulticopterAttitudeControl::task_main() } else { /* attitude controller disabled, poll rates setpoint topic */ - vehicle_rates_setpoint_poll(); - _rates_sp(0) = _v_rates_sp.roll; - _rates_sp(1) = _v_rates_sp.pitch; - _rates_sp(2) = _v_rates_sp.yaw; + vehicle_rates_setpoint_poll(); + _rates_sp(0) = _v_rates_sp.roll; + _rates_sp(1) = _v_rates_sp.pitch; + _rates_sp(2) = _v_rates_sp.yaw; _thrust_sp = _v_rates_sp.thrust; } |