From a98c0ef25d017278e9302c5ba605c43a314fe0db Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Wed, 10 May 2017 11:07:09 +0200
Subject: [PATCH] mc_pos_control: during transition set vel_sp to zero

---
 src/modules/mc_pos_control/mc_pos_control_main.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

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 76af8084f4..d0633f9b00 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1604,8 +1604,11 @@ void MulticopterPositionControl::control_auto(float dt)
 		}
 
 	} else {
-		/* no waypoint, do nothing, setpoint was already reset */
-		/* we are in idle */
+		/* idle or triplet not valid, set velocity setpoint to zero */
+		_vel_sp.zero();
+		_run_pos_control = false;
+		_run_alt_control = false;
+
 	}
 }