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FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2024-04-25 16:35:01 +02:00
parent f91103af6e
commit 34cb69898e
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+1 -1
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@@ -2304,7 +2304,7 @@ FixedwingPositionControl::Run()
_reference_altitude = 0.f; _reference_altitude = 0.f;
} }
_current_altitude = -_local_pos.z + _local_pos.ref_alt; // Altitude AMSL in meters _current_altitude = -_local_pos.z + _reference_altitude; // Altitude AMSL in meters
// handle estimator reset events. we only adjust setpoins for manual modes // handle estimator reset events. we only adjust setpoins for manual modes
if (_control_mode.flag_control_manual_enabled) { if (_control_mode.flag_control_manual_enabled) {