fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 06:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: don't use slewrate in mission

Browse Source
This commit is contained in:
Dennis Mannhart
2017-06-01 10:00:39 +02:00
committed by Lorenz Meier
parent 267dbe9b7a
commit 7a822c9db2
1 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -1
View File
@@ -1952,7 +1952,11 @@ MulticopterPositionControl::calculate_velocity_setpoint(float dt)
_vel_sp(2) = math::min(_vel_sp(2), vel_limit);
/* apply slewrate (aka acceleration limit) for smooth flying */
vel_sp_slewrate(dt);
if (!_control_mode.flag_control_auto_enabled) {
vel_sp_slewrate(dt);
}
_vel_sp_prev = _vel_sp;
/* special velocity setpoint limitation for smooth takeoff (after slewrate!) */