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Sub: relax xy velocity controllers when poshold is disabled

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This commit is contained in:
Willian Galvani 2022-09-05 18:30:37 -03:00
parent 400815361e
commit 48435b57e4
1 changed files with 1 additions and 1 deletions
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2
ArduSub/control_poshold.cpp
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@ -45,7 +45,7 @@ void Sub::poshold_run()
// Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle) // Sub vehicles do not stabilize roll/pitch/yaw when not auto-armed (i.e. on the ground, pilot has never raised throttle)
attitude_control.set_throttle_out(0.5f ,true, g.throttle_filt); attitude_control.set_throttle_out(0.5f ,true, g.throttle_filt);
attitude_control.relax_attitude_controllers(); attitude_control.relax_attitude_controllers();
pos_control.init_xy_controller_stopping_point(); pos_control.relax_velocity_controller_xy();
pos_control.relax_z_controller(0.5f); pos_control.relax_z_controller(0.5f);
last_pilot_heading = ahrs.yaw_sensor; last_pilot_heading = ahrs.yaw_sensor;
return; return;