From 3d87982bbac41ff235b2f42e018d37b1bc9e0876 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 15 Feb 2021 17:23:57 +0100 Subject: [PATCH] Commander: reintroduce last stick position --- src/modules/commander/Commander.cpp | 1 + src/modules/commander/Commander.hpp | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 8d94b489e2..8852276e4c 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2705,6 +2705,7 @@ Commander::run() _last_condition_global_position_valid = _status_flags.condition_global_position_valid; _was_armed = _armed.armed; + _last_manual_control_setpoint = _manual_control_setpoint; arm_auth_update(now, params_updated || param_init_forced); diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp index 2fb24a8331..f6831ee22a 100644 --- a/src/modules/commander/Commander.hpp +++ b/src/modules/commander/Commander.hpp @@ -363,7 +363,8 @@ private: unsigned int _leds_counter{0}; - manual_control_setpoint_s _manual_control_setpoint{}; ///< the current manual control setpoint + manual_control_setpoint_s _manual_control_setpoint{}; + manual_control_setpoint_s _last_manual_control_setpoint{}; manual_control_switches_s _manual_control_switches{}; manual_control_switches_s _last_manual_control_switches{}; hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost