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AC_PosControl: fix thr twitch when changing modes

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Jonathan Challinger 2015-04-18 12:38:21 +09:00 committed by Randy Mackay
parent 1c6c03b0eb
commit 12957867fd
1 changed files with 1 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -210,6 +210,7 @@ void AC_PosControl::get_stopping_point_z(Vector3f& stopping_point) const
// if position controller is active add current velocity error to avoid sudden jump in acceleration
if (is_active_z()) {
curr_vel_z += _vel_error.z;
curr_vel_z -= _vel_desired.z;
}
// calculate the velocity at which we switch from calculating the stopping point using a linear function to a sqrt function