From 50d768c79d0b122f541b8d4e628bed58a50bb8e8 Mon Sep 17 00:00:00 2001 From: Nicolas Martin Date: Tue, 22 Sep 2020 17:03:16 +0200 Subject: [PATCH] mc_pos_control: fix acc Z sign --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 3fc3cbb5bb..1874282032 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -481,7 +481,7 @@ MulticopterPositionControl::set_vehicle_states(const float &vel_sp_z) _states.velocity(2) = _local_pos.z_deriv * weighting + _local_pos.vz * (1.0f - weighting); } - _states.acceleration(2) = _vel_z_deriv.update(-_states.velocity(2)); + _states.acceleration(2) = _vel_z_deriv.update(_states.velocity(2)); } else { _states.velocity(2) = _states.acceleration(2) = NAN;