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mc_pos_control: only reset position setpoint if we are not in rotary wing mode

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Roman
2016-03-07 21:14:41 +01:00
parent 17b86d97e2
commit a62046625b
1 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -932,8 +932,8 @@ MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, f
void MulticopterPositionControl::control_auto(float dt)
{
/* reset position setpoint on AUTO mode activation or when reentering MC mode */
if (!_mode_auto || _vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
/* reset position setpoint on AUTO mode activation or if we are not in MC mode */
if (!_mode_auto || !_vehicle_status.is_rotary_wing) {
if (!_mode_auto) {
_mode_auto = true;
}