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Merge pull request #1465 from PX4/mcposoffbaltitude

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MC pos control offb: read altitude sp separately
This commit is contained in:
Lorenz Meier
2014-12-25 00:26:59 +01:00
parent b664fc7c8a 30d8512846
commit 9b535f6553
1 changed files with 4 additions and 3 deletions
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7
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -652,8 +652,6 @@ MulticopterPositionControl::control_offboard(float dt)
/* control position */
_pos_sp(0) = _pos_sp_triplet.current.x;
_pos_sp(1) = _pos_sp_triplet.current.y;
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_velocity_enabled && _pos_sp_triplet.current.velocity_valid) {
/* control velocity */
/* reset position setpoint to current position if needed */
@@ -670,7 +668,10 @@ MulticopterPositionControl::control_offboard(float dt)
_att_sp.yaw_body = _att_sp.yaw_body + _pos_sp_triplet.current.yawspeed * dt;
}
if (_control_mode.flag_control_altitude_enabled) {
if (_control_mode.flag_control_altitude_enabled && _pos_sp_triplet.current.position_valid) {
/* Control altitude */
_pos_sp(2) = _pos_sp_triplet.current.z;
} else if (_control_mode.flag_control_climb_rate_enabled && _pos_sp_triplet.current.velocity_valid) {
/* reset alt setpoint to current altitude if needed */
reset_alt_sp();