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This commit is contained in:
Dennis Mannhart
2016-12-07 08:48:44 +01:00
committed by Lorenz Meier
parent 5ed35e9731
commit c2b6381759
1 changed files with 2 additions and 1 deletions
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3
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -926,7 +926,8 @@ MulticopterPositionControl::control_manual(float dt)
if (fabsf(req_vel_sp(0)) < _params.hold_xy_dz && fabsf(req_vel_sp(1)) < _params.hold_xy_dz) {
if (!_pos_hold_engaged) {
float vel_xy_mag = sqrtf(_vel(0)*_vel(0) + _vel(1)*_vel(1));
float vel_xy_mag = sqrtf(_vel(0) * _vel(0) + _vel(1) * _vel(1));
if (_params.hold_max_xy < FLT_EPSILON || vel_xy_mag < _params.hold_max_xy) {
/* reset position setpoint to have smooth transition from velocity control to position control */
_pos_hold_engaged = true;