FW Attitude Controller: fix manual yaw rate setpoint limit (PX4#22812)

Signed-off-by: Silvan Fuhrer <[email protected]>
Peize-Liu · Mar 24, 2024 · 2a75852 · 2a75852
1 parent 7f9dfca
commit 2a75852
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -361,7 +361,7 @@ void FixedwingAttitudeControl::Run()
 
 					/* add yaw rate setpoint from sticks in all attitude-controlled modes */
 					if (_vcontrol_mode.flag_control_manual_enabled) {
-						body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_y_rmax.get()),
+						body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_man_yr_max.get()),
 									  -radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get()));
 					}
 

diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -155,7 +155,8 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 		(ParamFloat<px4::params::FW_WR_IMAX>) _param_fw_wr_imax,
 		(ParamFloat<px4::params::FW_WR_P>) _param_fw_wr_p,
 
-		(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax
+		(ParamFloat<px4::params::FW_Y_RMAX>) _param_fw_y_rmax,
+		(ParamFloat<px4::params::FW_MAN_YR_MAX>) _param_man_yr_max
 
 	)