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mc_pos_control: use 0.5 of acceleration for auto

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Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 807d45c99c
commit 3538f028b4
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -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));