AC_PosControl: fixed leash length calc for descent speed

11 years ago · 345115fddd
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -190,7 +190,7 @@ void AC_PosControl::calc_leash_length_z()
				@@ -190,7 +190,7 @@ void AC_PosControl::calc_leash_length_z()
 {
    if (_flags.recalc_leash_z) {
        _leash_up_z = calc_leash_length(_speed_up_cms, _accel_z_cms, _p_alt_pos.kP());
-        _leash_down_z = calc_leash_length(_speed_down_cms, _accel_z_cms, _p_alt_pos.kP());
+        _leash_down_z = calc_leash_length(-_speed_down_cms, _accel_z_cms, _p_alt_pos.kP());
        _flags.recalc_leash_z = false;
    }
 }