From a284a9838380f26a6d3d3eb6537e6debaf623ac5 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 22 Feb 2015 14:18:06 +0100 Subject: mc pos multi: set R valid in attitude sp in manual mode --- src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'src/modules') 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 c220b05c4..2e14b744f 100644 --- a/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -1007,6 +1007,7 @@ void MulticopterPositionControl::handle_vehicle_attitude(const px4_vehicle_atti /* Construct attitude setpoint rotation matrix */ math::Matrix<3,3> R_sp; R_sp.from_euler(_att_sp_msg.data().roll_body,_att_sp_msg.data().pitch_body,_att_sp_msg.data().yaw_body); + _att_sp_msg.data().R_valid = true; memcpy(&_att_sp_msg.data().R_body[0], R_sp.data, sizeof(_att_sp_msg.data().R_body)); _att_sp_msg.data().timestamp = get_time_micros(); } -- cgit v1.2.3