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Merge pull request #3304 from PX4/mc_pos_tilt_comp

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use tilt compensation also for position control
This commit is contained in:
Roman Bapst 2015-12-02 13:51:46 +01:00
commit 59be11f31d
1 changed files with 3 additions and 2 deletions
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5
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -1370,9 +1370,10 @@ MulticopterPositionControl::task_main()
}
}
}
}
} else {
/* thrust compensation for altitude only control mode */
if (_control_mode.flag_control_altitude_enabled) {
/* thrust compensation for altitude only control modes */
float att_comp;
if (_R(2, 2) > TILT_COS_MAX) {