diff options
Diffstat (limited to 'src/modules/mc_pos_control')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 |
1 files changed, 2 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 6541788f6..4e88e260c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -470,7 +470,7 @@ MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { double lat_sp, lon_sp; - float alt_sp; + float alt_sp = 0.0f; if (_ref_timestamp != 0) { /* calculate current position setpoint in global frame */ @@ -552,7 +552,6 @@ MulticopterPositionControl::task_main() hrt_abstime t_prev = 0; const float alt_ctl_dz = 0.2f; - const float pos_ctl_dz = 0.05f; math::Vector<3> sp_move_rate; sp_move_rate.zero(); @@ -950,7 +949,7 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_control_velocity_enabled) { /* limit max tilt */ - if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) { + if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) { /* absolute horizontal thrust */ float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); |