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| author | Julian Oes <julian@oes.ch> | 2014-02-24 14:19:57 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-02-24 14:19:57 +0100 |
| commit | 75c6706278119e50ce56ecbb1620025a9b9b936d (patch) | |
| tree | be83993fddce20caeaf67314a5afc14470a3800a /src | |
| parent | ab8ece3961f50348cf4bf464cb7d953b182a0a44 (diff) | |
| download | px4-firmware-75c6706278119e50ce56ecbb1620025a9b9b936d.tar.gz px4-firmware-75c6706278119e50ce56ecbb1620025a9b9b936d.tar.bz2 px4-firmware-75c6706278119e50ce56ecbb1620025a9b9b936d.zip | |
l1_pos_control: set gndspeed_undershoot to 0 in loiter
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index ed57e0d34..2e8d038d0 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -695,7 +695,7 @@ void FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> ¤t_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet) { - if (_global_pos_valid) { + if (_global_pos_valid && !pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) { /* rotate ground speed vector with current attitude */ math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0)); |