From ccee1e6e2eb5513e156ae47bb2db636060256185 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 26 Oct 2018 16:01:56 +0900 Subject: [PATCH] Copter: flowhold descending bug fix --- ArduCopter/mode_flowhold.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp index 94ede7c3d6..d7fc209628 100644 --- a/ArduCopter/mode_flowhold.cpp +++ b/ArduCopter/mode_flowhold.cpp @@ -89,7 +89,7 @@ bool Copter::ModeFlowHold::init(bool ignore_checks) } // initialize vertical speeds and leash lengths - copter.pos_control->set_max_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); + copter.pos_control->set_max_speed_z(-get_pilot_speed_dn(), copter.g.pilot_speed_up); copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z); // initialise position and desired velocity @@ -223,7 +223,7 @@ void Copter::ModeFlowHold::run() update_height_estimate(); // initialize vertical speeds and acceleration - copter.pos_control->set_max_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); + copter.pos_control->set_max_speed_z(-get_pilot_speed_dn(), copter.g.pilot_speed_up); copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z); // apply SIMPLE mode transform to pilot inputs @@ -236,7 +236,7 @@ void Copter::ModeFlowHold::run() // get pilot desired climb rate float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()); - target_climb_rate = constrain_float(target_climb_rate, -copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); + target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), copter.g.pilot_speed_up); // get pilot's desired yaw rate float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());