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reset position setpoints once altitude condition is reached

This commit is contained in:
Dennis Mannhart 2016-12-05 19:01:02 +01:00 committed by Lorenz Meier
parent fc9f2143d2
commit 6865a70dea
1 changed files with 4 additions and 2 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -925,9 +925,10 @@ MulticopterPositionControl::control_manual(float dt)
/* check for pos. hold */
if (fabsf(req_vel_sp(0)) < _params.hold_xy_dz && fabsf(req_vel_sp(1)) < _params.hold_xy_dz) {
if (!_pos_hold_engaged) {
if (_params.hold_max_xy < FLT_EPSILON || (fabsf(_vel(0)) < _params.hold_max_xy
&& fabsf(_vel(1)) < _params.hold_max_xy)) {
if (_params.hold_max_xy < FLT_EPSILON || (sqrtf(_vel(0)*_vel(0) + _vel(1)*_vel(1)) < _params.hold_max_xy)) {
_pos_hold_engaged = true;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
} else {
_pos_hold_engaged = false;
@ -955,6 +956,7 @@ MulticopterPositionControl::control_manual(float dt)
if (!_alt_hold_engaged) {
if (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z) {
_alt_hold_engaged = true;
_pos_sp(2) = _pos(2);
} else {
_alt_hold_engaged = false;