From 998579befc22d15c22c9c5b78ff612dd4de06f56 Mon Sep 17 00:00:00 2001 From: tumbili Date: Mon, 27 Jun 2016 15:03:07 +0200 Subject: [PATCH] mc pos control: zero yaw setpoint move rate in attitude setpoint topic - fixed bug where a non-zero yaw setpoint move rate could make the drone yaw around in non-manual modes Signed-off-by: tumbili --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 22fb7daf0a..bc5d7a3bfc 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -2056,6 +2056,7 @@ MulticopterPositionControl::task_main() } else { reset_yaw_sp = true; + _att_sp.yaw_sp_move_rate = 0.0f; } /* update previous velocity for velocity controller D part */