From c78fd7014d7301fe8ca7801f9589fab4951b15e8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 30 Jan 2016 15:12:18 +0100 Subject: [PATCH] MC: Only use auto yaw limits if manual control is off --- src/modules/mc_att_control/mc_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 9668747301..6d390a9a68 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -717,7 +717,7 @@ MulticopterAttitudeControl::control_attitude(float dt) /* limit rates */ for (int i = 0; i < 3; i++) { - if (_v_control_mode.flag_control_velocity_enabled) { + if (_v_control_mode.flag_control_velocity_enabled && !_v_control_mode.flag_control_manual_enabled) { _rates_sp(i) = math::constrain(_rates_sp(i), -_params.auto_rate_max(i), _params.auto_rate_max(i)); } else { _rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));