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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-22 11:19:00 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-22 11:19:00 +0100 |
| commit | fdef07912caf2346e80b19e8e56a030e8d4afb91 (patch) | |
| tree | 6bd6631f755dad8cbecdb377e4f5ece808ce1ff9 | |
| parent | bdf440e37596e0ff756b48b31591d1e1defe3c64 (diff) | |
| download | px4-firmware-fdef07912caf2346e80b19e8e56a030e8d4afb91.tar.gz px4-firmware-fdef07912caf2346e80b19e8e56a030e8d4afb91.tar.bz2 px4-firmware-fdef07912caf2346e80b19e8e56a030e8d4afb91.zip | |
mc_pos_control: altitude setpoint offset limiting fixed
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index e99e4457b..5ce4500cd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -613,7 +613,7 @@ MulticopterPositionControl::task_main() pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); } - if (!_control_mode.flag_control_altitude_enabled) { + if (_control_mode.flag_control_altitude_enabled) { pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); } |