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fixed 'NaN' yaw setpoint in offboard mode

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Ziyang LI
2015-02-17 16:15:20 +08:00
committed by Lorenz Meier
parent 91aab00fa0
commit 63fd54f44e
1 changed files with 1 additions and 0 deletions
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src/modules/mavlink/mavlink_receiver.cpp
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@@ -802,6 +802,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
mavlink_quaternion_to_dcm(set_attitude_target.q, (float(*)[3])att_sp.R_body);
att_sp.R_valid = true;
att_sp.thrust = set_attitude_target.thrust;
att_sp.yaw_sp_move_rate = 0.0;
memcpy(att_sp.q_d, set_attitude_target.q, sizeof(att_sp.q_d));
att_sp.q_d_valid = true;
if (_att_sp_pub < 0) {