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Copter: PosHold supports offsets

This commit is contained in:
Leonard Hall 2024-10-03 10:25:03 +09:30 committed by Randy Mackay
parent 5ca7daf915
commit 1c59ec8b94
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/mode_poshold.cpp
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@ -377,7 +377,7 @@ void ModePosHold::run()
pitch_mode = RPMode::BRAKE_TO_LOITER;
brake.to_loiter_timer = POSHOLD_BRAKE_TO_LOITER_TIMER;
// init loiter controller
loiter_nav->init_target(inertial_nav.get_position_xy_cm());
loiter_nav->init_target(inertial_nav.get_position_xy_cm() - pos_control->get_pos_offset_cm().xy().tofloat());
// set delay to start of wind compensation estimate updates
wind_comp_start_timer = POSHOLD_WIND_COMP_START_TIMER;
}