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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 23:35:48 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 23:35:48 +0400 |
| commit | 7dfaed3ee7718c15731070f3e3bd54d725f72029 (patch) | |
| tree | cea4678eef85d6491d61d62935ace5b14ef9cb06 /src/modules/multirotor_pos_control | |
| parent | a29e3b5a94f6d0d2a321fbd4b681d29e24ede05e (diff) | |
| download | px4-firmware-7dfaed3ee7718c15731070f3e3bd54d725f72029.tar.gz px4-firmware-7dfaed3ee7718c15731070f3e3bd54d725f72029.tar.bz2 px4-firmware-7dfaed3ee7718c15731070f3e3bd54d725f72029.zip | |
multirotor_pos_control: new ground level -> altitude setpoint correction fixed
Diffstat (limited to 'src/modules/multirotor_pos_control')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3a14d516a..cb6afa1cb 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -293,7 +293,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) { if (local_pos.home_timestamp != home_alt_t) { if (home_alt_t != 0) { /* home alt changed, don't follow large ground level changes in manual flight */ - local_pos_sp.z -= local_pos.home_alt - home_alt; + local_pos_sp.z += local_pos.home_alt - home_alt; } home_alt_t = local_pos.home_timestamp; home_alt = local_pos.home_alt; |