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use tilt compensation also for position control

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tumbili
2015-12-01 17:14:32 +01:00
parent 33f85a5024
commit c0f45ed8a7
1 changed files with 3 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -2
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@@ -1370,9 +1370,10 @@ MulticopterPositionControl::task_main()
}
}
}
}
} else {
/* thrust compensation for altitude only control mode */
if (_control_mode.flag_control_altitude_enabled) {
/* thrust compensation for altitude only control modes */
float att_comp;
if (_R(2, 2) > TILT_COS_MAX) {