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check velocity_setpoint instead of sticks in altitude mode

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This commit is contained in:
baumanta
2019-08-21 10:02:40 +02:00
committed by Julian Kent
parent d168d5049f
commit af0d63250c
1 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
+2 -2
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@@ -130,7 +130,7 @@ void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
* is used to set current velocity of the trajectory. * is used to set current velocity of the trajectory.
*/ */
if (fabsf(_sticks_expo(2)) > FLT_EPSILON) { if (fabsf(_velocity_setpoint(2)) > FLT_EPSILON) {
if (_position_lock_z_active) { if (_position_lock_z_active) {
_smoothing.setCurrentVelocity(_velocity_setpoint_feedback( _smoothing.setCurrentVelocity(_velocity_setpoint_feedback(
2)); // Start the trajectory at the current velocity setpoint 2)); // Start the trajectory at the current velocity setpoint
@@ -159,7 +159,7 @@ void FlightTaskManualAltitudeSmoothVel::_updateSetpoints()
if (fabsf(_vel_sp_smooth) < 0.1f && if (fabsf(_vel_sp_smooth) < 0.1f &&
fabsf(_acceleration_setpoint(2)) < .2f && fabsf(_acceleration_setpoint(2)) < .2f &&
fabsf(_sticks_expo(2)) <= FLT_EPSILON) { fabsf(_velocity_setpoint(2)) <= FLT_EPSILON) {
_position_lock_z_active = true; _position_lock_z_active = true;
} }