From 22733b150172dba6a09c91c4b44c97b65ef39031 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 14 Dec 2016 11:49:13 +0100 Subject: [PATCH] mc_pos_control: dont run alt-control when landing --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 + 1 file changed, 1 insertion(+) 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 52c3277ff9..d7d1e59a3f 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1123,6 +1123,7 @@ MulticopterPositionControl::control_non_manual(float dt) if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) { _vel_sp(2) = _params.land_speed; + _run_alt_control = false; } /* special thrust setpoint generation for takeoff from ground */