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Sub: stop position control when in velocity mode

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This commit is contained in:
Willian Galvani 2022-09-13 10:36:57 -03:00
parent 9c52930d87
commit 830c1a4a3e
1 changed files with 1 additions and 0 deletions
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ArduSub/control_guided.cpp
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@ -358,6 +358,7 @@ void Sub::guided_vel_control_run()
pos_control.set_vel_desired_cms(Vector3f(0,0,0)); pos_control.set_vel_desired_cms(Vector3f(0,0,0));
} }
pos_control.stop_pos_xy_stabilisation();
// call velocity controller which includes z axis controller // call velocity controller which includes z axis controller
pos_control.update_xy_controller(); pos_control.update_xy_controller();
pos_control.update_z_controller(); pos_control.update_z_controller();