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Sub: update poshold so lateral and forward are applied after depth control

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This commit is contained in:
Willian Galvani 2022-05-25 13:20:51 -03:00
parent ff40f166dc
commit 5368c3f9d2
1 changed files with 3 additions and 2 deletions
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5
ArduSub/control_poshold.cpp
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@ -72,8 +72,6 @@ void Sub::poshold_run()
} else {
pos_control.init_xy_controller_stopping_point();
}
motors.set_forward(forward_out + pilot_forward);
motors.set_lateral(lateral_out + pilot_lateral);
/////////////////////
// Update attitude //
@ -109,5 +107,8 @@ void Sub::poshold_run()
// Update z axis //
control_depth();
motors.set_forward(motors.get_forward() + forward_out + pilot_forward);
motors.set_lateral(motors.get_lateral() + lateral_out + pilot_lateral);
}
#endif // POSHOLD_ENABLED == ENABLED