diff options
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 3016fcc0c..3baebf1cc 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -345,7 +345,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) if (control_mode.flag_control_manual_enabled) { /* manual control */ /* check for reference point updates and correct setpoint */ - if (local_pos.ref_surface_timestamp != ref_surface_prev_t) { + if (local_pos.ref_timestamp != ref_surface_prev_t) { /* reference alt changed, don't follow large ground level changes in manual flight */ local_pos_sp.z += local_pos.ref_alt - ref_alt_prev; @@ -674,7 +674,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) } /* track local position reference even when not controlling position */ - ref_surface_prev_t = local_pos.ref_surface_timestamp; + ref_surface_prev_t = local_pos.ref_timestamp; ref_alt_prev = local_pos.ref_alt; /* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */ |