Set feedforward heightrate setpoint in offboard mode

2026-05-02 05:04:08 +08:00 · 2023-02-24 08:17:27 +01:00 · 2023-02-24 08:17:27 +01:00 · 0bdd780bdd
commit 0bdd780bdd
parent 7e49147bcf
1 changed files with 3 additions and 1 deletions
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@ -1194,7 +1194,9 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
 				   tecs_fw_thr_max,
 				   false,
 				   radians(_param_fw_p_lim_min.get()),
-				   _param_sinkrate_target.get());
+				   _param_sinkrate_target.get(),
+				   false,
+				   pos_sp_curr.vz);
 }

 void