dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mc_pos_control: change sign for close to ground + style fix

This commit is contained in:
Matthias Grob 2017-02-23 19:32:18 +01:00 committed by Lorenz Meier
parent de9d05c292
commit 3a358422c4
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -141,7 +141,7 @@ private:
int _pos_sp_triplet_sub; /**< position setpoint triplet */
int _local_pos_sp_sub; /**< offboard local position setpoint */
int _global_vel_sp_sub; /**< offboard global velocity setpoint */
int _home_pos_sub; /**< home position */
int _home_pos_sub; /**< home position */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
orb_advert_t _local_pos_sp_pub; /**< vehicle local position setpoint publication */
orb_advert_t _global_vel_sp_pub; /**< vehicle global velocity setpoint publication */
@ -159,7 +159,7 @@ private:
struct position_setpoint_triplet_s _pos_sp_triplet; /**< vehicle global position setpoint triplet */
struct vehicle_local_position_setpoint_s _local_pos_sp; /**< vehicle local position setpoint */
struct vehicle_global_velocity_setpoint_s _global_vel_sp; /**< vehicle global velocity setpoint */
struct home_position_s _home_pos; /**< home position */
struct home_position_s _home_pos; /**< home position */
control::BlockParamFloat _manual_thr_min;
control::BlockParamFloat _manual_thr_max;
@ -1696,7 +1696,7 @@ MulticopterPositionControl::control_position(float dt)
* for now we use the home altitude and assume that our Z coordinate
* is initialized close to home.
*/
bool close_to_ground = (-_pos(2) - _home_pos.z) < _manual_land_alt.get();
bool close_to_ground = (-_pos(2) + _home_pos.z) < _manual_land_alt.get();
if (close_to_ground && (_vel_sp(2) > _params.land_speed)) {
_vel_sp(2) = _params.land_speed;