vtol_att_control_main: only reset thrust when disarmed

to see flaps moving according to attitude control before arming.
PX4 · Oct 15, 2019 · 0b57b18 · 0b57b18
1 parent 0cbb693
commit 0b57b18
Showing 1 changed file with 0 additions and 4 deletions.
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -393,9 +393,7 @@ VtolAttitudeControl::Run()
 
 				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
 				if (!_v_control_mode.flag_armed) {
-					Quatf().copyTo(_mc_virtual_att_sp.q_d);
 					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Quatf().copyTo(_v_att_sp.q_d);
 					Vector3f().copyTo(_v_att_sp.thrust_body);
 				}
 
@@ -414,9 +412,7 @@ VtolAttitudeControl::Run()
 			if (mc_att_sp_updated) {
 				// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
 				if (!_v_control_mode.flag_armed) {
-					Quatf().copyTo(_mc_virtual_att_sp.q_d);
 					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Quatf().copyTo(_v_att_sp.q_d);
 					Vector3f().copyTo(_v_att_sp.thrust_body);
 				}
 			}