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MC: Only use auto yaw limits if manual control is off

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Lorenz Meier
2016-01-31 20:18:12 +01:00
parent 7455a833d0
commit c78fd7014d
1 changed files with 1 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
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@@ -717,7 +717,7 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* limit rates */
for (int i = 0; i < 3; i++) {
if (_v_control_mode.flag_control_velocity_enabled) {
if (_v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.auto_rate_max(i), _params.auto_rate_max(i));
} else {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));