From 74af8d2c459f1509e2b1361f0b699c0dd758a34d Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 11 Oct 2013 16:48:52 +0200 Subject: [PATCH] multirotor_pos_control: reset distance z setpoint when distance_bottom switch switched on --- src/modules/multirotor_pos_control/multirotor_pos_control.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 8d6898cf2e..d94b18ead5 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -701,7 +701,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) reset_int_z_manual = control_mode.flag_armed && control_mode.flag_control_manual_enabled && !control_mode.flag_control_climb_rate_enabled; /* reset distance setpoint if distance is not available */ - if (!local_pos.dist_bottom_valid) { + if (!local_pos.dist_bottom_valid || !control_mode.flag_use_dist_bottom) { reset_z_sp_dist = true; }