From 8133f8d61626efe2679bdd21c6ebaee12d48022f Mon Sep 17 00:00:00 2001 From: v01d Date: Tue, 29 Sep 2015 16:05:34 -0300 Subject: [PATCH] disable pos/alt controllers when following velocity setpoints in offboard mode --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index adaf4a3fb6..299330eebf 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -770,6 +770,8 @@ MulticopterPositionControl::control_offboard(float dt) /* set position setpoint move rate */ _vel_sp(0) = _pos_sp_triplet.current.vx; _vel_sp(1) = _pos_sp_triplet.current.vy; + + _run_pos_control = false; /* request velocity setpoint to be used, instead of position setpoint */ } if (_pos_sp_triplet.current.yaw_valid) { @@ -787,6 +789,8 @@ MulticopterPositionControl::control_offboard(float dt) /* set altitude setpoint move rate */ _vel_sp(2) = _pos_sp_triplet.current.vz; + + _run_alt_control = false; /* request velocity setpoint to be used, instead of position setpoint */ } } else { reset_pos_sp();