From 21b99b408cec117c994b7af017c41614aa92a1dd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 11 Jan 2016 11:57:55 +0100 Subject: [PATCH] Yaw fix: increase threshold --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 71db251293..a604b4c263 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1761,7 +1761,7 @@ MulticopterPositionControl::task_main() /* do not move yaw while sitting on the ground */ else if (!_vehicle_status.condition_landed && - !(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.05f)) { + !(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.1f)) { const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p; _att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max;