Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 01:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: guided removes xy mode in calls to pos-con

Browse Source 
Also limit angle to hold altitude
This commit is contained in:
Leonard Hall 2017-06-27 23:11:37 +09:00 committed by Randy Mackay
parent 1a0be015f9
commit f9acc8a666
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/mode_guided.cpp
View File

@ -553,7 +553,7 @@ void Copter::ModeGuided::posvel_control_run()
pos_control->set_desired_velocity_xy(guided_vel_target_cms.x, guided_vel_target_cms.y);
// run position controller
pos_control->update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler, false);
pos_control->update_xy_controller(ekfNavVelGainScaler);
}
pos_control->update_z_controller();