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

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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
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2
ArduCopter/mode_guided.cpp
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@ -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); pos_control->set_desired_velocity_xy(guided_vel_target_cms.x, guided_vel_target_cms.y);
// run position controller // 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(); pos_control->update_z_controller();