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multirotor_pos_control: bug fixed

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This commit is contained in:
Anton Babushkin 2013-10-18 14:15:35 +02:00
parent 3a571ea18f
commit 7d4981d4b4
1 changed files with 6 additions and 1 deletions
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7
src/modules/multirotor_pos_control/multirotor_pos_control.c
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@ -389,7 +389,6 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
vz = -local_pos.dist_bottom_rate;
/* move altitude setpoint according to ground distance */
local_pos_sp.z = surface_offset - sp_z_dist;
sp_z = -sp_z_dist;
}
/* move altitude setpoint with throttle stick */
@ -408,6 +407,12 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
local_pos_sp.z = local_pos.z - z_sp_offs_max;
}
}
if (control_mode.flag_use_dist_bottom && local_pos.dist_bottom_valid) {
sp_z = -sp_z_dist;
} else {
sp_z = local_pos_sp.z;
}
}
if (control_mode.flag_control_position_enabled) {