From de4c4561961562d424e77c4557b51c6166bfd1d2 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 12 May 2014 09:24:06 +0200 Subject: mc att control: use new manual control setpoint variable names --- src/modules/mc_att_control/mc_att_control_main.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (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 36d95bf06..5f6963ce9 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -478,7 +478,7 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_climb_rate_enabled) { /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp.throttle; + _v_att_sp.thrust = _manual_control_sp.z; publish_att_sp = true; } @@ -496,7 +496,7 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + yaw_sp_move_rate = _manual_control_sp.r * _params.man_yaw_max; _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; publish_att_sp = true; @@ -512,8 +512,8 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_velocity_enabled) { /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max; - _v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max; + _v_att_sp.roll_body = _manual_control_sp.y * _params.man_roll_max; + _v_att_sp.pitch_body = -_manual_control_sp.x * _params.man_pitch_max; _v_att_sp.R_valid = false; publish_att_sp = true; } -- cgit v1.2.3