fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 07:27:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

do not set position setpoint too early

Browse Source
This commit is contained in:
Roman
2015-11-01 10:13:55 +01:00
parent 35d8e0bc55
commit 601da2818b
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
View File
@@ -714,16 +714,18 @@ MulticopterPositionControl::control_manual(float dt)
(fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy)))
{
_pos_hold_engaged = true;
} else {
_pos_hold_engaged = false;
}
}
else {
_pos_hold_engaged = false;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
/* set requested velocity setpoint */
if (!_pos_hold_engaged) {
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
_run_pos_control = false; /* request velocity setpoint to be used, instead of position setpoint */
_vel_sp(0) = req_vel_sp_scaled(0);
_vel_sp(1) = req_vel_sp_scaled(1);