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reset position setpoint when in velocity control mode

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This commit is contained in:
tumbili
2015-10-16 12:38:53 +02:00
parent 8133f8d616
commit b3f912ecc1
1 changed files with 3 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -3
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@@ -707,12 +707,12 @@ MulticopterPositionControl::control_manual(float dt)
(fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy)))
{
_pos_hold_engaged = true;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
}
else {
_pos_hold_engaged = false;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
/* set requested velocity setpoint */
@@ -732,11 +732,11 @@ MulticopterPositionControl::control_manual(float dt)
if (!_alt_hold_engaged && (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z))
{
_alt_hold_engaged = true;
_pos_sp(2) = _pos(2);
}
}
else {
_alt_hold_engaged = false;
_pos_sp(2) = _pos(2);
}
/* set requested velocity setpoint */