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recalculate absolute thrust before limiting

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This commit is contained in:
Andreas Antener
2015-12-28 15:23:20 +01:00
committed by Lorenz Meier
parent d9878493bd
commit ee0aa7b37d
1 changed files with 2 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1573,6 +1573,8 @@ MulticopterPositionControl::task_main()
} }
/* limit max thrust */ /* limit max thrust */
thrust_abs = thrust_sp.length(); /* recalculate because it might have changed */
if (thrust_abs > thr_max) { if (thrust_abs > thr_max) {
if (thrust_sp(2) < 0.0f) { if (thrust_sp(2) < 0.0f) {
if (-thrust_sp(2) > thr_max) { if (-thrust_sp(2) > thr_max) {