AC_AttitudeControl: fix reset_target_and_rate method

ArduPilot · Feb 19, 2024 · 6c4c7a2 · 6c4c7a2
1 parent 303c334
commit 6c4c7a2
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -934,11 +934,11 @@ void AC_AttitudeControl::reset_target_and_rate(bool reset_rate)
 {
     // move attitude target to current attitude
     _ahrs.get_quat_body_to_ned(_attitude_target);
+    _attitude_target.to_euler(_euler_angle_target);
 
     if (reset_rate) {
-        // Convert euler angle derivative of desired attitude into a body-frame angular velocity vector for feedforward
         _ang_vel_target.zero();
-        _euler_angle_target.zero();
+        _euler_rate_target.zero();
     }
 }