From 3538f028b40ba485363be7109531f8434e4d7026 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 14 Jun 2017 13:08:28 +0200 Subject: [PATCH] mc_pos_control: use 0.5 of acceleration for auto --- 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 e8c930782c..d0ac258a5b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1552,7 +1552,7 @@ void MulticopterPositionControl::control_auto(float dt) /* we want to accelerate */ float acc_z = (vel_sp_z - fabsf(_vel_sp(2))) / dt; - float acc_max = (flying_upward) ? _acceleration_z_max_up.get() : _acceleration_z_max_down.get(); + float acc_max = (flying_upward) ? (_acceleration_z_max_up.get() * 0.5f) : (_acceleration_z_max_down.get() * 0.5f); if (acc_z > acc_max) { vel_sp_z = _acceleration_z_max_up.get() * dt + fabsf(_vel_sp(2));