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mc_pos_control: initialize takeoff altitude reference

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according to @dagar's review comment.
This commit is contained in:
Matthias Grob
2019-05-15 13:35:05 +01:00
committed by Lorenz Meier
parent 8036efd7f2
commit ae96e16c73
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -106,7 +106,7 @@ private:
bool _in_takeoff_ramp = false; /**< true while takeoff ramp is applied */ bool _in_takeoff_ramp = false; /**< true while takeoff ramp is applied */
bool _position_triggered_takeoff = false; /**< true if takeoff was triggered by a position setpoint */ bool _position_triggered_takeoff = false; /**< true if takeoff was triggered by a position setpoint */
float _takeoff_ramp_velocity = -1.f; /**< current value of the smooth takeoff ramp */ float _takeoff_ramp_velocity = -1.f; /**< current value of the smooth takeoff ramp */
float _takeoff_reference_z; /**< z-position when takeoff ramp was initiated */ float _takeoff_reference_z = 0.f; /**< z-position when takeoff ramp was initiated */
orb_advert_t _att_sp_pub{nullptr}; /**< attitude setpoint publication */ orb_advert_t _att_sp_pub{nullptr}; /**< attitude setpoint publication */
orb_advert_t _traj_sp_pub{nullptr}; /**< trajectory setpoints publication */ orb_advert_t _traj_sp_pub{nullptr}; /**< trajectory setpoints publication */