From 6212e9c75220f3b390125696d09ccb3489bfc4a5 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 12 Sep 2018 10:25:40 +0200 Subject: [PATCH] FlightTaskManualAltitude: use stick inputs for the brake check --- .../tasks/ManualAltitude/FlightTaskManualAltitude.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp index 78c90de94f..0409451dd9 100644 --- a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp +++ b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp @@ -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());