From ee0aa7b37d9c9d8b43e908f23bfc0f5a0ce73bd3 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Mon, 21 Dec 2015 11:40:44 +0100 Subject: [PATCH] recalculate absolute thrust before limiting --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index e8ea88a23e..8cfaeafbff 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1573,6 +1573,8 @@ MulticopterPositionControl::task_main() } /* limit max thrust */ + thrust_abs = thrust_sp.length(); /* recalculate because it might have changed */ + if (thrust_abs > thr_max) { if (thrust_sp(2) < 0.0f) { if (-thrust_sp(2) > thr_max) {