From 431ee461333e4df23d2b7dbf84dde2edd489a0d1 Mon Sep 17 00:00:00 2001 From: Willian Galvani Date: Tue, 13 Sep 2022 10:36:57 -0300 Subject: [PATCH] Sub: stop position control when in velocity mode --- ArduSub/control_guided.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp index 91acdaaada..387f5dbf98 100644 --- a/ArduSub/control_guided.cpp +++ b/ArduSub/control_guided.cpp @@ -364,6 +364,7 @@ void Sub::guided_vel_control_run() pos_control.set_vel_desired_cms(Vector3f(0,0,0)); } + pos_control.stop_pos_xy_stabilisation(); // call velocity controller which includes z axis controller pos_control.update_xy_controller(); pos_control.update_z_controller();