fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-14 16:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskManualAltitude: use stick inputs for the brake check

Browse Source
This commit is contained in:
Dennis Mannhart
2018-09-12 10:25:40 +02:00
committed by Daniel Agar
parent 280cb34a77
commit 6212e9c752
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+1 -1
View File
@@ -92,7 +92,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
// If not locked, altitude setpoint is set to NAN.
// Check if user wants to break
const bool apply_brake = fabsf(_velocity_setpoint(2)) <= FLT_EPSILON;
const bool apply_brake = fabsf(_sticks_expo(2)) <= FLT_EPSILON;
// Check if vehicle has stopped
const bool stopped = (MPC_HOLD_MAX_Z.get() < FLT_EPSILON || fabsf(_velocity(2)) < MPC_HOLD_MAX_Z.get());