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mc_pos_control: use correct altitude as limit

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Dennis Mannhart
2017-06-26 10:22:29 +02:00
parent 115e7246b0
commit 8a0a8e20e1
15 changed files with 58 additions and 49 deletions
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src/modules/navigator/takeoff.cpp
+2 -2
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@@ -92,7 +92,7 @@ Takeoff::on_active()
// set loiter item so position controllers stop doing takeoff logic
set_loiter_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
@@ -149,7 +149,7 @@ Takeoff::set_takeoff_position()
// convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(&_mission_item);
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->previous.valid = false;
pos_sp_triplet->current.yaw_valid = true;