dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FixedwingPositionControl: Used corrected npfg roll output in path mode

This commit is contained in:
Konrad 2024-02-13 10:02:07 +01:00 committed by Silvan Fuhrer
parent 1a1891073e
commit cb09dde606
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/fw_pos_control/FixedwingPositionControl.cpp
View File

@ -1388,7 +1388,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
0.0f;
navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
_att_sp.roll_body = _npfg.getRollSetpoint();
_att_sp.roll_body = getCorrectedNpfgRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw