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Store prev velocity at right location

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Lorenz Meier
2015-12-18 15:55:16 +00:00
parent 7b06c4afb9
commit f533f6ce19
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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@@ -1599,6 +1599,9 @@ MulticopterPositionControl::task_main()
_mode_auto = false; _mode_auto = false;
reset_int_z = true; reset_int_z = true;
reset_int_xy = true; reset_int_xy = true;
/* store last velocity in case a mode switch to position control occurs */
_vel_sp_prev = _vel;
} }
/* generate attitude setpoint from manual controls */ /* generate attitude setpoint from manual controls */
@@ -1658,8 +1661,6 @@ MulticopterPositionControl::task_main()
/* update previous velocity for velocity controller D part */ /* update previous velocity for velocity controller D part */
_vel_prev = _vel; _vel_prev = _vel;
/* store last velocity in case a mode switch to auto occurs */
_vel_sp_prev = _vel;
/* publish attitude setpoint /* publish attitude setpoint
* Do not publish if offboard is enabled but position/velocity control is disabled, * Do not publish if offboard is enabled but position/velocity control is disabled,