diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 |
1 files changed, 4 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 acd623c30..954431fa3 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 @@ -845,7 +845,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2); math::Vector<3> accel_earth = _R_nb * accel_body; - _tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); + if (!_mTecs.getEnabled()) { + _tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); + } + float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt; /* no throttle limit as default */ |