Merge pull request #3304 from PX4/mc_pos_tilt_comp

use tilt compensation also for position control
9 years ago · 59be11f31d
1 changed files with 3 additions and 2 deletions
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@ -1370,9 +1370,10 @@ MulticopterPositionControl::task_main()
				@@ -1370,9 +1370,10 @@ MulticopterPositionControl::task_main()
 								}
 							}
 						}
+					}

-					} else {
-						/* thrust compensation for altitude only control mode */
+					if (_control_mode.flag_control_altitude_enabled) {
+						/* thrust compensation for altitude only control modes */
 						float att_comp;

 						if (_R(2, 2) > TILT_COS_MAX) {