AC_PosControl: add clear_desired_velocity_ff_z method

8 years ago · 6e92f74ca0
1 changed files with 3 additions and 0 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@ -220,6 +220,9 @@ public:
				@@ -220,6 +220,9 @@ public:
    /// set_desired_velocity_z - sets desired velocity in cm/s in z axis
    void set_desired_velocity_z(float vel_z_cms) {_vel_desired.z = vel_z_cms;}

+    // clear desired velocity feed-forward in z axis
+    void clear_desired_velocity_ff_z() { _flags.use_desvel_ff_z = false; }
+
    /// set_desired_velocity_xy - sets desired velocity in cm/s in lat and lon directions
    ///     when update_xy_controller is next called the position target is moved based on the desired velocity and
    ///     the desired velocities are fed forward into the rate_to_accel step