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Yaw fix: increase threshold

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Lorenz Meier
2016-01-11 11:57:55 +01:00
parent 79e7059eaf
commit 21b99b408c
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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@@ -1761,7 +1761,7 @@ MulticopterPositionControl::task_main()
/* do not move yaw while sitting on the ground */
else if (!_vehicle_status.condition_landed &&
!(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.05f)) {
!(!_control_mode.flag_control_altitude_enabled && _manual.z < 0.1f)) {
const float yaw_offset_max = _params.man_yaw_max / _params.mc_att_yaw_p;
_att_sp.yaw_sp_move_rate = _manual.r * _params.man_yaw_max;