From cecd009ddc01e4c28d5a60d6599ea3faf757e213 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 5 Jun 2019 20:56:28 -0400 Subject: [PATCH] mc_att_control: fix vehicle_rates_setpoint_poll() error due to merge timing --- src/modules/mc_att_control/mc_att_control_main.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index f18b69323d..74dcaa8134 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -687,10 +687,9 @@ MulticopterAttitudeControl::run() } control_attitude(); - if (_v_control_mode.flag_control_yawrate_override_enabled) - { + if (_v_control_mode.flag_control_yawrate_override_enabled) { /* Yaw rate override enabled, overwrite the yaw setpoint */ - vehicle_rates_setpoint_poll(); + _v_rates_sp_sub.update(&_v_rates_sp); const auto yawrate_reference = _v_rates_sp.yaw; _rates_sp(2) = yawrate_reference; }