From 3a358422c4a9d1f88119b9a79394114794d0d60c Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 23 Feb 2017 19:32:18 +0100 Subject: [PATCH] mc_pos_control: change sign for close to ground + style fix --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 b5e345f954..31b999e29b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -141,7 +141,7 @@ private: int _pos_sp_triplet_sub; /**< position setpoint triplet */ int _local_pos_sp_sub; /**< offboard local position setpoint */ int _global_vel_sp_sub; /**< offboard global velocity setpoint */ - int _home_pos_sub; /**< home position */ + int _home_pos_sub; /**< home position */ orb_advert_t _att_sp_pub; /**< attitude setpoint publication */ orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */ orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */ @@ -159,7 +159,7 @@ private: struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */ struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */ struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */ - struct home_position_s _home_pos; /**< home position */ + struct home_position_s _home_pos; /**< home position */ control::BlockParamFloat _manual_thr_min; control::BlockParamFloat _manual_thr_max; @@ -1696,7 +1696,7 @@ MulticopterPositionControl::control_position(float dt) * for now we use the home altitude and assume that our Z coordinate * is initialized close to home. */ - bool close_to_ground = (-_pos(2) - _home_pos.z) < _manual_land_alt.get(); + bool close_to_ground = (-_pos(2) + _home_pos.z) < _manual_land_alt.get(); if (close_to_ground && (_vel_sp(2) > _params.land_speed)) { _vel_sp(2) = _params.land_speed;