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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
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Roman Bapst
2015-12-02 13:51:46 +01:00
parent 7b9d49f6b6 c0f45ed8a7
commit 59be11f31d
1 changed files with 3 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -2
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@@ -1370,9 +1370,10 @@ MulticopterPositionControl::task_main()
} }
} }
} }
}
} else { if (_control_mode.flag_control_altitude_enabled) {
/* thrust compensation for altitude only control mode */ /* thrust compensation for altitude only control modes */
float att_comp; float att_comp;
if (_R(2, 2) > TILT_COS_MAX) { if (_R(2, 2) > TILT_COS_MAX) {