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mc_pos_control: fix acc Z sign

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This commit is contained in:
Nicolas Martin 2020-09-22 17:03:16 +02:00 committed by Daniel Agar
parent 740c471021
commit 50d768c79d
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -481,7 +481,7 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z)
_states.velocity(2) = _local_pos.z_deriv * weighting + _local_pos.vz * (1.0f - weighting);
}
_states.acceleration(2) = _vel_z_deriv.update(-_states.velocity(2));
_states.acceleration(2) = _vel_z_deriv.update(_states.velocity(2));
} else {
_states.velocity(2) = _states.acceleration(2) = NAN;