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Copter: guided mode vel controller integrates althold lean limit

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Note it does not yet actually limit the lean angles based on throttle
This commit is contained in:
Randy Mackay 2015-09-06 21:25:09 +09:00
parent 543f6fdcd4
commit 0eaf815411
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_guided.cpp
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@ -363,7 +363,7 @@ void Copter::guided_posvel_control_run()
pos_control.set_desired_velocity_xy(posvel_vel_target_cms.x, posvel_vel_target_cms.y);
// run position controller
pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler);
pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_AND_VEL_FF, ekfNavVelGainScaler, false);
}
pos_control.update_z_controller();