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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 00:07:50 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 00:07:50 +0100 |
| commit | 0be7bd3166969294bdd56b853b65248442219b80 (patch) | |
| tree | 105bb3b0e2e19429009bbe185c9c34eaae67909b /src/modules/mc_pos_control | |
| parent | d933d523eb74ee2290c56afcd11fe8e85c6e702b (diff) | |
| download | px4-firmware-0be7bd3166969294bdd56b853b65248442219b80.tar.gz px4-firmware-0be7bd3166969294bdd56b853b65248442219b80.tar.bz2 px4-firmware-0be7bd3166969294bdd56b853b65248442219b80.zip | |
mc_pos_control: max position setpoint offset limiting fixed
Diffstat (limited to 'src/modules/mc_pos_control')
| -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 e9b92119d..057cb051d 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -645,7 +645,7 @@ MulticopterPositionControl::task_main() if (pos_sp_offs_norm > 1.0f) { pos_sp_offs /= pos_sp_offs_norm; - add_vector_to_global_position(_lat_sp, _lon_sp, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp); + add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp); _alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2); } |