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fix2

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This commit is contained in:
JuliooCesarMDM 2021-06-26 13:09:20 -03:00
parent 6dce0e076e
commit 81a4788246
1 changed files with 6 additions and 4 deletions
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6
src/main/navigation/navigation_fixedwing.c
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@ -655,12 +655,14 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
// Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control // Motor has been stopped by user. Update target altitude and bypass navigation pitch/throttle control
resetFixedWingAltitudeController(); resetFixedWingAltitudeController();
setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z); setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_Z);
} else } else {
applyFixedWingAltitudeAndThrottleController(currentTimeUs); applyFixedWingAltitudeAndThrottleController(currentTimeUs);
} }
}
if (navStateFlags & NAV_CTL_POS) if (navStateFlags & NAV_CTL_POS) {
applyFixedWingPositionController(currentTimeUs); applyFixedWingPositionController(currentTimeUs);
}
} else { } else {
posControl.rcAdjustment[PITCH] = 0; posControl.rcAdjustment[PITCH] = 0;