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mc_pos_control: if triplet not valid in z ignore it

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Dennis Mannhart
2017-06-07 16:43:36 +02:00
parent 2a943f4bd0
commit e0d81b4c5e
1 changed files with 0 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-3
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@@ -1398,8 +1398,6 @@ void MulticopterPositionControl::control_auto(float dt)
if (PX4_ISFINITE(_pos_sp_triplet.current.alt)) {
_curr_pos_sp(2) = -(_pos_sp_triplet.current.alt - _ref_alt);
} else {
_curr_pos_sp(2) = _pos(2);
}
if (PX4_ISFINITE(_curr_pos_sp(0)) &&
@@ -1552,7 +1550,6 @@ void MulticopterPositionControl::control_auto(float dt)
_att_sp.yaw_body = _pos_sp_triplet.current.yaw;
}
/*
* if we're already near the current takeoff setpoint don't reset in case we switch back to posctl.
* this makes the takeoff finish smoothly.