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Merge pull request #3115 from PX4/pos_hold_fix

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fix position hold logic
This commit is contained in:
Lorenz Meier
2015-11-02 16:39:30 +01:00
parent 7f242d7170 a567b9956f
commit 1205665b24
1 changed files with 6 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -6
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@@ -710,12 +710,12 @@ MulticopterPositionControl::control_manual(float dt)
/* check for pos. hold */
if (fabsf(req_vel_sp(0)) < _params.hold_xy_dz && fabsf(req_vel_sp(1)) < _params.hold_xy_dz)
{
if (!_pos_hold_engaged && (_params.hold_max_xy < FLT_EPSILON ||
(fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy)))
{
_pos_hold_engaged = true;
} else {
_pos_hold_engaged = false;
if (!_pos_hold_engaged) {
if (_params.hold_max_xy < FLT_EPSILON || (fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy)) {
_pos_hold_engaged = true;
} else {
_pos_hold_engaged = false;
}
}
}
else {