From a62046625b234dcc71279d036b6a70530c67c030 Mon Sep 17 00:00:00 2001 From: Roman Date: Mon, 7 Mar 2016 21:14:41 +0100 Subject: [PATCH] mc_pos_control: only reset position setpoint if we are not in rotary wing mode --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 00b2d9a25f..388713d24c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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; }