mc pos control: zero yaw setpoint move rate in attitude setpoint topic

- fixed bug where a non-zero yaw setpoint move rate could make the drone yaw around in non-manual modes Signed-off-by: tumbili <roman@px4.io>
9 years ago · 998579befc
1 changed files with 1 additions and 0 deletions
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@ -2056,6 +2056,7 @@ MulticopterPositionControl::task_main()
				@@ -2056,6 +2056,7 @@ MulticopterPositionControl::task_main()

 		} else {
 			reset_yaw_sp = true;
+			_att_sp.yaw_sp_move_rate = 0.0f;
 		}

 		/* update previous velocity for velocity controller D part */