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mc_pos_control: do not use invalid vz estimate

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This commit is contained in:
Matthias Grob
2020-01-18 10:57:12 +01:00
committed by Lorenz Meier
parent 4d83170746
commit a6cc972b5c
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -462,7 +462,7 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z)
_vel_y_deriv.update(0.0f);
}
if (PX4_ISFINITE(_local_pos.vz)) {
if (PX4_ISFINITE(_local_pos.vz) && _local_pos.v_z_valid) {
_states.velocity(2) = _local_pos.vz;
if (PX4_ISFINITE(vel_sp_z) && fabsf(vel_sp_z) > FLT_EPSILON && PX4_ISFINITE(_local_pos.z_deriv)) {