From fdef07912caf2346e80b19e8e56a030e8d4afb91 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 22 Jan 2014 11:19:00 +0100 Subject: mc_pos_control: altitude setpoint offset limiting fixed --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/mc_pos_control') 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 e99e4457b..5ce4500cd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -613,7 +613,7 @@ MulticopterPositionControl::task_main() pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1); } - if (!_control_mode.flag_control_altitude_enabled) { + if (_control_mode.flag_control_altitude_enabled) { pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2); } -- cgit v1.2.3