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mc pos control: use new manual control setpoint variable names

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This commit is contained in:
Thomas Gubler
2014-05-12 09:24:22 +02:00
parent de4c456196
commit 2999182952
1 changed files with 4 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -4
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@@ -617,7 +617,7 @@ MulticopterPositionControl::task_main()
reset_alt_sp();
/* move altitude setpoint with throttle stick */
sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz);
}
if (_control_mode.flag_control_position_enabled) {
@@ -625,8 +625,8 @@ MulticopterPositionControl::task_main()
reset_pos_sp();
/* move position setpoint with roll/pitch stick */
sp_move_rate(0) = _manual.pitch;
sp_move_rate(1) = _manual.roll;
sp_move_rate(0) = _manual.x;
sp_move_rate(1) = _manual.y;
}
/* limit setpoint move rate */
@@ -782,7 +782,7 @@ MulticopterPositionControl::task_main()
float i = _params.thr_min;
if (reset_int_z_manual) {
i = _manual.throttle;
i = _manual.z;
if (i < _params.thr_min) {
i = _params.thr_min;