From ba2cf5fa9a20a1577f9a9153df4f793f9e49c8f6 Mon Sep 17 00:00:00 2001 From: Philipp Oettershagen Date: Wed, 6 Jun 2018 12:31:24 +0200 Subject: [PATCH] fw_att_control: Fix stuttering rudder in manual mode (#9607) fw_att_control: Fix bug that caused the rudder to stutter when FW_RLL_TO_YAW_FF>0 and aileron input was supplied --- src/modules/fw_att_control/FixedwingAttitudeControl.cpp | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 7896955934..4830ed7c68 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -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