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mc_pos_control: dont run alt-control when landing

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Dennis Mannhart
2016-12-14 11:49:13 +01:00
committed by Lorenz Meier
parent ef7ade52b1
commit 22733b1501
1 changed files with 1 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1123,6 +1123,7 @@ MulticopterPositionControl::control_non_manual(float dt)
if (_pos_sp_triplet.current.valid
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
_vel_sp(2) = _params.land_speed;
_run_alt_control = false;
}
/* special thrust setpoint generation for takeoff from ground */