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Copter: guided_posvel run update_z_controller at 400hz

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Jonathan Challinger 2015-04-22 12:04:27 -07:00 committed by Randy Mackay
parent da629ce976
commit 36cc832931
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/control_guided.pde
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@ -331,9 +331,10 @@ static void guided_posvel_control_run()
// run position controller
pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler);
pos_control.update_z_controller();
}
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot