Julian Oes e416a8cb83 mc_pos_control: fix takeoff bug ...

This resolves a bug where a takeoff would go sideways instead of
straight up. What happened was that the position setpoint got shifted
around even though there was actually no real setpoint set but only a
setpoint of type IDLE. This then lead to a position setpoint far away
from the takeoff point and therefore scary takeoffs.

This fix prevents the part of the position controller which
moves/integrates the position setpoint from running in the case of an
idle setpoint.

This bug could be reproduced by switching the vehicle to mission mode
without a valid mission, then switch to hold mode, and then send the arm
and takeoff command.

2016-12-02 17:34:00 +01:00

..

mc_pos_control_tests

UT: added method to test float values

2016-10-10 23:05:44 +02:00

CMakeLists.txt

Remove size optimization for individual modules

2016-09-30 08:11:51 +02:00

mc_pos_control_main.cpp

mc_pos_control: fix takeoff bug

2016-12-02 17:34:00 +01:00

mc_pos_control_params.c

MC pos control: Drop default position controller gain

2016-08-06 11:50:08 +02:00