From b3f912ecc1e9c8b410130ab689cf9a7a61c6b851 Mon Sep 17 00:00:00 2001 From: tumbili Date: Fri, 16 Oct 2015 12:38:53 +0200 Subject: [PATCH] reset position setpoint when in velocity control mode --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 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 299330eebf..60747854cd 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -707,12 +707,12 @@ MulticopterPositionControl::control_manual(float dt) (fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy))) { _pos_hold_engaged = true; - _pos_sp(0) = _pos(0); - _pos_sp(1) = _pos(1); } } else { _pos_hold_engaged = false; + _pos_sp(0) = _pos(0); + _pos_sp(1) = _pos(1); } /* set requested velocity setpoint */ @@ -732,11 +732,11 @@ MulticopterPositionControl::control_manual(float dt) if (!_alt_hold_engaged && (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z)) { _alt_hold_engaged = true; - _pos_sp(2) = _pos(2); } } else { _alt_hold_engaged = false; + _pos_sp(2) = _pos(2); } /* set requested velocity setpoint */