From 50e3c4067af6668b1d2747f079444e5157c5ae92 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Tue, 25 Apr 2017 10:50:53 +0200 Subject: [PATCH] mc_pos_control: update _curr_pos_sp all the time --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 +++ 1 file changed, 3 insertions(+) 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 4f2f8522ad..9ae9a1f982 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1381,6 +1381,9 @@ void MulticopterPositionControl::control_auto(float dt) triplet_updated = true; } + /* we need to update _curr_pos_sp always since navigator applies slew rate on z */ + _curr_pos_sp = curr_pos_sp; + } if (_pos_sp_triplet.previous.valid) {