From b6a59c0c134f76fbb2a416c18b2945e91d23f987 Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Thu, 15 Dec 2022 22:14:58 +1030 Subject: [PATCH] Copter: Update use of input_vel_accel_z --- ArduCopter/mode_guided.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index 2bbe33fd8c..e30e5dafcb 100644 --- a/ArduCopter/mode_guided.cpp +++ b/ArduCopter/mode_guided.cpp @@ -778,7 +778,7 @@ void ModeGuided::accel_control_run() auto_yaw.set_rate(0.0f); } pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy(), false); - pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false, false); + pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false); } else { // update position controller with new target pos_control->input_accel_xy(guided_accel_target_cmss); @@ -865,7 +865,7 @@ void ModeGuided::velaccel_control_run() // set position errors to zero pos_control->stop_pos_xy_stabilisation(); } - pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false, false); + pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false); // call velocity controller which includes z axis controller pos_control->update_xy_controller(); @@ -904,7 +904,7 @@ void ModeGuided::pause_control_run() // set the vertical velocity and acceleration targets to zero float vel_z = 0.0; - pos_control->input_vel_accel_z(vel_z, 0.0, false, false); + pos_control->input_vel_accel_z(vel_z, 0.0, false); // call velocity controller which includes z axis controller pos_control->update_xy_controller();