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Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp Co-authored-by: Silvan Fuhrer <[email protected]> Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp Co-authored-by: Silvan Fuhrer <[email protected]> Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp Co-authored-by: Silvan Fuhrer <[email protected]> Update src/modules/fw_att_control/FixedwingAttitudeControl.cpp Co-authored-by: Silvan Fuhrer <[email protected]>
PX4 · Aug 10, 2024 · ca381e2 · ca381e2
1 parent ccaf9bf
commit ca381e2
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -105,7 +105,7 @@ FixedwingAttitudeControl::vehicle_manual_poll(const float yaw_body)
 
 				_att_sp.thrust_body[0] = (_manual_control_setpoint.throttle + 1.f) * .5f;
 
-				Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
+				const Quatf q(Eulerf(roll_body, pitch_body, yaw_body));
 				q.copyTo(_att_sp.q_d);
 
 				_att_sp.reset_integral = false;
@@ -324,9 +324,9 @@ void FixedwingAttitudeControl::Run()
 			/* Run attitude controllers */
 
 			if (_vcontrol_mode.flag_control_attitude_enabled && _in_fw_or_transition_wo_tailsitter_transition) {
-				Eulerf setpoint(Quatf(_att_sp.q_d));
-				float roll_body = setpoint.phi();
-				float pitch_body = setpoint.theta();
+				const Eulerf setpoint(Quatf(_att_sp.q_d));
+				const float roll_body = setpoint.phi();
+				const float pitch_body = setpoint.theta();
 
 				if (PX4_ISFINITE(roll_body) && PX4_ISFINITE(pitch_body)) {
 

diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1675,6 +1675,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 	}
 
 	_flaps_setpoint = _param_fw_flaps_to_scl.get();
+
 	if (!_vehicle_status.in_transition_to_fw) {
 		publishLocalPositionSetpoint(pos_sp_curr);
 	}
-Original file line number
+Diff line change
@@ Expand Up @@
     	}
     	_flaps_setpoint = _param_fw_flaps_to_scl.get();
     	if (!_vehicle_status.in_transition_to_fw) {
     		publishLocalPositionSetpoint(pos_sp_curr);
     	}
@@ Expand Down @@