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Fw rate controller: enable yaw rate controller when feeding in yaw rate setpoints outside of manual control (#25457)

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2025-08-19 18:41:49 +02:00
committed by GitHub
parent 333b77cb38
commit b3c7667f41
1 changed files with 3 additions and 2 deletions
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5
src/modules/fw_rate_control/FixedwingRateControl.cpp
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@@ -368,8 +368,9 @@ void FixedwingRateControl::Run()
Vector3f control_u = angular_acceleration_setpoint * _airspeed_scaling * _airspeed_scaling;
// Special case yaw in Acro: if the parameter FW_ACRO_YAW_CTL is not set then don't control yaw
if (!_vcontrol_mode.flag_control_attitude_enabled && !_param_fw_acro_yaw_en.get()) {
// Special case yaw in Acro: if the parameter FW_ACRO_YAW_EN is not set then don't rate-control yaw
if (!_vcontrol_mode.flag_control_attitude_enabled && _vcontrol_mode.flag_control_manual_enabled
&& !_param_fw_acro_yaw_en.get()) {
control_u(2) = _manual_control_setpoint.yaw * _param_fw_man_y_sc.get();
_rate_control.resetIntegral(2);
}