Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: PosHold supports offsets

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/mode_poshold.cpp
View File

@ -377,7 +377,7 @@ void ModePosHold::run()
pitch_mode = RPMode::BRAKE_TO_LOITER; pitch_mode = RPMode::BRAKE_TO_LOITER;
brake.to_loiter_timer = POSHOLD_BRAKE_TO_LOITER_TIMER; brake.to_loiter_timer = POSHOLD_BRAKE_TO_LOITER_TIMER;
// init loiter controller // 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 // set delay to start of wind compensation estimate updates
wind_comp_start_timer = POSHOLD_WIND_COMP_START_TIMER; wind_comp_start_timer = POSHOLD_WIND_COMP_START_TIMER;
} }