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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-28 21:09:58 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-12-28 21:09:58 +0100 |
| commit | 6b2f3f9b07cdf01ad6b11c8bab9723bfbac97c92 (patch) | |
| tree | 9503a0a82e1f7ca09dbfac9f4cc81f695e28637b /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 784888e1757661a267978c25a00d03c1a348db21 (diff) | |
| parent | c29972424f6d7b99633c8497f0c25ab7cda4d2ca (diff) | |
| download | px4-firmware-6b2f3f9b07cdf01ad6b11c8bab9723bfbac97c92.tar.gz px4-firmware-6b2f3f9b07cdf01ad6b11c8bab9723bfbac97c92.tar.bz2 px4-firmware-6b2f3f9b07cdf01ad6b11c8bab9723bfbac97c92.zip | |
Merged master into nuttx_bringup / nuttx_noappconfig
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 7 |
1 files changed, 4 insertions, 3 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 5918d6bc5..3b631e2ce 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -652,8 +652,6 @@ MulticopterPositionControl::control_offboard(float dt) /* control position */ _pos_sp(0) = _pos_sp_triplet.current.x; _pos_sp(1) = _pos_sp_triplet.current.y; - _pos_sp(2) = _pos_sp_triplet.current.z; - } else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) { /* control velocity */ /* reset position setpoint to current position if needed */ @@ -670,7 +668,10 @@ MulticopterPositionControl::control_offboard(float dt) _att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt; } - if (_control_mode.flag_control_altitude_enabled) { + if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) { + /* Control altitude */ + _pos_sp(2) = _pos_sp_triplet.current.z; + } else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) { /* reset alt setpoint to current altitude if needed */ reset_alt_sp(); |