forked from Archive/PX4-Autopilot
mc_att_control: reset yaw setpoint after ACRO
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@ -803,6 +803,9 @@ MulticopterAttitudeControl::task_main()
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
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_rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max);
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_thrust_sp = _manual_control_sp.z;
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_thrust_sp = _manual_control_sp.z;
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/* reset yaw setpoint after ACRO */
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_reset_yaw_sp = true;
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/* publish attitude rates setpoint */
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/* publish attitude rates setpoint */
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.roll = _rates_sp(0);
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_v_rates_sp.pitch = _rates_sp(1);
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_v_rates_sp.pitch = _rates_sp(1);
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