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manual condition includes threshold values

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This commit is contained in:
Andreas Antener 2016-07-22 12:32:03 +02:00
parent aea7bd5b47
commit 50175ca7ea
1 changed files with 2 additions and 2 deletions
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4
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1944,8 +1944,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (!_yaw_lock_engaged || fabsf(_manual.y) > HDG_HOLD_MAN_INPUT_THRESH ||
fabsf(_manual.r) > HDG_HOLD_MAN_INPUT_THRESH) {
if (!_yaw_lock_engaged || fabsf(_manual.y) >= HDG_HOLD_MAN_INPUT_THRESH ||
fabsf(_manual.r) >= HDG_HOLD_MAN_INPUT_THRESH) {
_hdg_hold_enabled = false;
_yaw_lock_engaged = false;
_att_sp.roll_body = _manual.y * _parameters.man_roll_max_rad;