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mc_pos_control: altitude setpoint offset limiting fixed

This commit is contained in:
Anton Babushkin 2014-01-22 11:19:00 +01:00
parent bdf440e375
commit fdef07912c
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -613,7 +613,7 @@ MulticopterPositionControl::task_main()
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (!_control_mode.flag_control_altitude_enabled) {
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}