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AC_PosControl: set-alt-target-with-slew sets desired to 0 once at target

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This resolves and issue with the set-alt-target-with-slew method leaving the z-axis desired velocity at the max speed-up or speed-down
this causes a jump in throttle if the user switches to Loiter after the vehicle has reached its target
This commit is contained in:
Randy Mackay 2018-11-19 15:19:35 +09:00
parent b252eae404
commit ba3303dc61
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -286,6 +286,9 @@ void AC_PosControl::set_alt_target_with_slew(float alt_cm, float dt)
_pos_target.z += climb_rate_cms*dt; _pos_target.z += climb_rate_cms*dt;
_vel_desired.z = climb_rate_cms; // recorded for reporting purposes _vel_desired.z = climb_rate_cms; // recorded for reporting purposes
} }
} else {
// recorded for reporting purposes
_vel_desired.z = 0.0f;
} }
// do not let target get too far from current altitude // do not let target get too far from current altitude