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disable pos/alt controllers when following velocity setpoints in offboard mode

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This commit is contained in:
v01d
2015-09-29 16:05:34 -03:00
committed by tumbili
parent 44bb50e9ea
commit 8133f8d616
1 changed files with 4 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4
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@@ -770,6 +770,8 @@ MulticopterPositionControl::control_offboard(float dt)
/* set position setpoint move rate */
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
_run_pos_control = false; /* request velocity setpoint to be used, instead of position setpoint */
}
if (_pos_sp_triplet.current.yaw_valid) {
@@ -787,6 +789,8 @@ MulticopterPositionControl::control_offboard(float dt)
/* set altitude setpoint move rate */
_vel_sp(2) = _pos_sp_triplet.current.vz;
_run_alt_control = false; /* request velocity setpoint to be used, instead of position setpoint */
}
} else {
reset_pos_sp();