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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-25 09:48:15 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-25 09:48:15 +0100 |
| commit | 25af4b266ca48b183a1ad375856396f67d6ab30f (patch) | |
| tree | 64e031ec3747ab706e5ae8ed9fd052e12ee3248b /src/modules/mc_pos_control | |
| parent | ad189cf7d69b8de16244b90d398e1d84ed6d0f4b (diff) | |
| parent | 9b535f6553944f3468bbec9203301623412524ad (diff) | |
| download | px4-firmware-25af4b266ca48b183a1ad375856396f67d6ab30f.tar.gz px4-firmware-25af4b266ca48b183a1ad375856396f67d6ab30f.tar.bz2 px4-firmware-25af4b266ca48b183a1ad375856396f67d6ab30f.zip | |
Merge remote-tracking branch 'upstream/master' into dev_ros
Conflicts:
.gitignore
src/lib/uavcan
Diffstat (limited to 'src/modules/mc_pos_control')
| -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 4ea5fdfb6..bf65d2805 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -653,8 +653,6 @@ 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 */ @@ -671,7 +669,10 @@ 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(); |