FixedwingPositionControl: Used corrected npfg roll output in path mode

PetervdPerk-NXP · Feb 13, 2024 · cb09dde · cb09dde
1 parent 1a18910
commit cb09dde
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1388,7 +1388,7 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const
  0.0f;
  navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), ground_speed, _wind_vel, curvature);
 
- _att_sp.roll_body = _npfg.getRollSetpoint();
+ _att_sp.roll_body = getCorrectedNpfgRollSetpoint();
  target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
 
  _att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw