From 62b8db153bf73ade8c63ff7a8d7e4324abb1712c Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 13:43:47 +0100 Subject: [PATCH] mpc: fix PositionControl unit test The unit test assumes the position controller is in "decoupled" mode --- src/modules/mc_pos_control/PositionControl/PositionControl.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 7575409bbc..85af876cd1 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -216,7 +216,7 @@ private: float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation - bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint + bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */