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fw_pos_control_l1: make TECS handle height ekf height resets properly

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-17 23:10:49 +02:00
parent ae7f61b0bf
commit 7ba49aeb80
1 changed files with 2 additions and 0 deletions
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2
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -2294,6 +2294,8 @@ FixedwingPositionControl::task_main()
if (_control_mode.flag_control_altitude_enabled && _global_pos.alt_reset_counter != _alt_reset_counter) {
_hold_alt += _global_pos.delta_alt;
_alt_reset_counter = _global_pos.alt_reset_counter;
// make TECS accept step in altitude and demanded altitude
_tecs.handle_alt_step(_global_pos.delta_alt, _global_pos.alt);
}
// adjust navigation waypoints in position control mode