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mc_att_control: remove direct setting of att sp in Stabilized 

Instead of directly setting the attitude setpoint for usage inside the same module
only publish it to the uorb topic, which is subscribed to in the same module.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-01-16 17:01:06 +01:00 committed by Daniel Agar
parent 3576d513cd
commit e5cfbbb1ee
1 changed files with 0 additions and 8 deletions
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8
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -192,14 +192,6 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
attitude_setpoint.timestamp = hrt_absolute_time();
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
// update attitude controller setpoint immediately (don't do it in vtol transition, then the VTOL module generates the attitude setpoint)
if (!_vtol_in_transition_mode) {
_attitude_control.setAttitudeSetpoint(q_sp, attitude_setpoint.yaw_sp_move_rate);
_thrust_setpoint_body = Vector3f(attitude_setpoint.thrust_body);
}
_last_attitude_setpoint = attitude_setpoint.timestamp;
}
void