From 283a69dedf70e6397e50e49712fefd4de3918e8c Mon Sep 17 00:00:00 2001 From: Marco Hauswirth Date: Tue, 18 Mar 2025 11:28:11 +0100 Subject: [PATCH] enable terrain_hold when not moving vertically --- .../tasks/ManualAltitude/FlightTaskManualAltitude.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index ed7676296f..2f27fd1aed 100644 --- a/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -134,7 +134,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock() } } else { - bool not_moving = spd_xy < 0.5f * _param_mpc_hold_max_xy.get(); + bool not_moving = spd_xy < 0.5f * _param_mpc_hold_max_xy.get() && stopped; if (!stick_input && not_moving && PX4_ISFINITE(_dist_to_bottom)) { // Start using distance to ground