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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-16 23:36:49 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-16 23:36:49 +0200 |
commit | c543f89ec17048c1b5264623a885a9247a05304c (patch) | |
tree | 85ac36792b75824e5364f4e087ed09f3dc4699c0 /src/modules/multirotor_att_control | |
parent | 4882bc0f1c74e9ddebbeaa73bc3e753ac43bdf9c (diff) | |
download | px4-firmware-c543f89ec17048c1b5264623a885a9247a05304c.tar.gz px4-firmware-c543f89ec17048c1b5264623a885a9247a05304c.tar.bz2 px4-firmware-c543f89ec17048c1b5264623a885a9247a05304c.zip |
commander, multirotor_pos_control, multirotor_att_control: bugfixes
Diffstat (limited to 'src/modules/multirotor_att_control')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_att_control_main.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c index 65b19c8e9..1aa24a4fc 100644 --- a/src/modules/multirotor_att_control/multirotor_att_control_main.c +++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c @@ -250,12 +250,12 @@ mc_thread_main(int argc, char *argv[]) /* if the RC signal is lost, try to stay level and go slowly back down to ground */ if (control_mode.failsave_highlevel) { - if (!control_mode.flag_control_position_enabled) { + if (!control_mode.flag_control_velocity_enabled) { /* Don't reset attitude setpoint in position control mode, it's handled by position controller. */ att_sp.roll_body = 0.0f; att_sp.pitch_body = 0.0f; - if (!control_mode.flag_control_altitude_enabled) { + if (!control_mode.flag_control_climb_rate_enabled) { /* Don't touch throttle in modes with altitude hold, it's handled by position controller. * * Only go to failsafe throttle if last known throttle was @@ -309,12 +309,12 @@ mc_thread_main(int argc, char *argv[]) control_yaw_position = true; } - if (!control_mode.flag_control_position_enabled) { + if (!control_mode.flag_control_velocity_enabled) { /* don't update attitude setpoint in position control mode */ att_sp.roll_body = manual.roll; att_sp.pitch_body = manual.pitch; - if (!control_mode.flag_control_position_enabled) { + if (!control_mode.flag_control_climb_rate_enabled) { /* don't set throttle in altitude hold modes */ att_sp.thrust = manual.throttle; } |