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fw_att_control: Fix stuttering rudder in manual mode (#9607)

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fw_att_control: Fix bug that caused the rudder to stutter when FW_RLL_TO_YAW_FF>0 and aileron input was supplied
This commit is contained in:
Philipp Oettershagen
2018-06-06 12:31:24 +02:00
committed by Lorenz Meier
parent 64cf043481
commit ba2cf5fa9a
1 changed files with 2 additions and 6 deletions
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8
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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@@ -261,14 +261,10 @@ FixedwingAttitudeControl::vehicle_control_mode_poll()
void
FixedwingAttitudeControl::vehicle_manual_poll()
{
bool manual_updated;
/* get pilots inputs */
orb_check(_manual_sub, &manual_updated);
// only update manual if in a manual mode
if (_vcontrol_mode.flag_control_manual_enabled && manual_updated) {
if (_vcontrol_mode.flag_control_manual_enabled) {
// Always copy the new manual setpoint, even if it wasn't updated, to fill the _actuators with valid values
if (orb_copy(ORB_ID(manual_control_setpoint), _manual_sub, &_manual) == PX4_OK) {
// Check if we are in rattitude mode and the pilot is above the threshold on pitch