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| author | Lorenz Meier <lorenz@px4.io> | 2014-12-25 00:26:59 +0100 |
|---|---|---|
| committer | Lorenz Meier <lorenz@px4.io> | 2014-12-25 00:26:59 +0100 |
| commit | 9b535f6553944f3468bbec9203301623412524ad (patch) | |
| tree | 9b24a4033b2dd0928fd2f1acb549ed2edca5d7aa /src/modules/mc_pos_control | |
| parent | b664fc7c8a7aaf7ab229423f6dec9cbe3ce8e3ae (diff) | |
| parent | 30d851284606476642c6cf8a54070bc08ab923c6 (diff) | |
| download | px4-firmware-9b535f6553944f3468bbec9203301623412524ad.tar.gz px4-firmware-9b535f6553944f3468bbec9203301623412524ad.tar.bz2 px4-firmware-9b535f6553944f3468bbec9203301623412524ad.zip | |
Merge pull request #1465 from PX4/mcposoffbaltitude
MC pos control offb: read altitude sp separately
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 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(); |