fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 02:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Tests

Browse Source
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 0797c7fc21
commit 01e971b342
8 changed files with 124 additions and 93 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
View File
@@ -1369,8 +1369,8 @@ MulticopterPositionControl::task_main()
} else {
/* run position & altitude controllers, if enabled (otherwise use already computed velocity setpoints) */
if (_run_pos_control) {
_vel_sp(0) = (_pos_sp(0) - _pos(0)) * _params.pos_p(0);
_vel_sp(1) = (_pos_sp(1) - _pos(1)) * _params.pos_p(1);
_vel_sp(0) = (_pos_sp(0) - _pos(0)) * _params.pos_p(0) + _pos_sp_triplet.current.vx;
_vel_sp(1) = (_pos_sp(1) - _pos(1)) * _params.pos_p(1) + _pos_sp_triplet.current.vy;
}
if (_run_alt_control) {