From d8ef397b07280a2631076c2f92b950d64684a8ed Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 20 May 2014 16:40:44 +0200 Subject: mc_att_control: reset yaw setpoint after ACRO --- src/modules/mc_att_control/mc_att_control_main.cpp | 3 +++ 1 file changed, 3 insertions(+) (limited to 'src/modules') 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 77c7c61e9..20e016da3 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -803,6 +803,9 @@ MulticopterAttitudeControl::task_main() _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; + /* reset yaw setpoint after ACRO */ + _reset_yaw_sp = true; + /* publish attitude rates setpoint */ _v_rates_sp.roll = _rates_sp(0); _v_rates_sp.pitch = _rates_sp(1); -- cgit v1.2.3