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Commit ccbb444e authored by beuchatp's avatar beuchatp
Browse files

finally corrected body rate commands for current yaw angle

parent dff0150c
......@@ -632,7 +632,7 @@ void centralized_control_command( Controller::Request &request, Controller::Resp
// PREPARE AND RETURN THE VARIABLE "response"
response.controlOutput.roll = bodyrates[0];
response.controlOutput.pitch = bodyrates[0];
response.controlOutput.pitch = bodyrates[1];
response.controlOutput.yaw = outYaw;
response.controlOutput.motorCmd1 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
response.controlOutput.motorCmd2 = computeMotorPolyBackward(thrustSum/4 + gravity_force_copterloadsystem);
......
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