From 4761f0a3440c64594b9553250791f8502c0c16f6 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Thu, 5 Apr 2018 08:50:03 +0200 Subject: [PATCH] PositionControl: bug fix Pv replacement with Pp --- src/modules/mc_pos_control/PositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index b5df85b7a8..0b8ed1c837 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -178,7 +178,7 @@ void PositionControl::_interfaceMapping() void PositionControl::_positionController() { // P-position controller - Vector3f vel_sp_position = (_pos_sp - _pos).emult(_Pv); + Vector3f vel_sp_position = (_pos_sp - _pos).emult(_Pp); _vel_sp = vel_sp_position + _vel_sp; // Constrain horizontal velocity by prioritizing the velocity component along the