From 91f5bce0cc7bd0376360900105e765544c461ab0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 24 Aug 2014 13:24:19 +0200 Subject: [PATCH] Position SP update --- src/uas/UAS.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index d110dd58f..3680f2a44 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -2794,6 +2794,8 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll float q[4]; mavlink_euler_to_quaternion(roll, pitch, yaw, q); + float yawrate = 0.0f; + // Do not control rates and throttle quint8 mask = (1 << 0) | (1 << 1) | (1 << 2); // ignore rates mask |= (1 << 6); // ignore throttle @@ -2805,7 +2807,7 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll (1 << 6) | (1 << 7) | (1 << 8); mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, QGC::groundTimeMilliseconds(), this->uasId, 0, - MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0); + MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate); sendMessage(message); qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGES: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw; -- 2.22.0