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fix multirotor velocity z

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This commit is contained in:
breadoven 2023-11-10 22:29:19 +00:00
parent a8079c2842
commit 1fcac6134a
4 changed files with 6 additions and 4 deletions
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4
src/main/navigation/navigation.c
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@ -3086,6 +3086,8 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
posControl.desiredState.pos.z = navGetCurrentActualPositionAndVelocity()->pos.z;
} else if (mode == ROC_TO_ALT_TARGET) {
posControl.desiredState.pos.z = targetAltitude;
} else { // ROC_TO_ALT_CONSTANT
posControl.desiredState.climbRateDemand = desiredClimbRate;
}
posControl.flags.rocToAltMode = mode;
@ -3097,8 +3099,6 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, float targetAlt
posControl.desiredState.pos.z = MIN(posControl.desiredState.pos.z, navConfig()->general.max_altitude);
posControl.flags.rocToAltMode = ROC_TO_ALT_TARGET;
}
posControl.desiredState.vel.z = desiredClimbRate; // only used for ROC_TO_ALT_CONSTANT
}
static void resetAltitudeController(bool useTerrainFollowing)