AC_AttitudeControl: Write_Rate() should be thread-safe

andyp1per · Sep 10, 2024 · 9a54019 · 9a54019
1 parent 8692237
commit 9a54019
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -1276,7 +1276,7 @@ void AC_AttitudeControl::get_rpy_srate(float &roll_srate, float &pitch_srate, fl
 // Write a rate packet
 void AC_AttitudeControl::Write_Rate(const AC_PosControl &pos_control) const
 {
-    const Vector3f &rate_targets = rate_bf_targets();
+    const Vector3f rate_targets = rate_bf_targets();
     const Vector3f &accel_target = pos_control.get_accel_target_cmss();
     const Vector3f &gyro_rate = _rate_gyro;
     const struct log_Rate pkt_rate{