fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-13 04:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

MC pos control offb: read altitude sp separately

Browse Source
This commit is contained in:
Thomas Gubler
2014-11-19 12:31:04 +01:00
parent 97a1410ec9
commit 30d8512846
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -3
View File
@@ -652,8 +652,6 @@ MulticopterPositionControl::control_offboard(float dt)
/* control position */
_pos_sp(0) = _pos_sp_triplet.current.x;
_pos_sp(1) = _pos_sp_triplet.current.y;
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
/* control velocity */
/* reset position setpoint to current position if needed */
@@ -670,7 +668,10 @@ MulticopterPositionControl::control_offboard(float dt)
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
if (_control_mode.flag_control_altitude_enabled) {
if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
/* Control altitude */
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();