From 345d3278d17ea9d6b68ac3c01347711dfa2b6c3c Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Fri, 14 Sep 2018 10:15:11 +0200
Subject: [PATCH] mc_pos_control smooth takeoff: if velocity is valid, the
control velocity in xy during takeoff
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
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 26a9bffd19..7729d282a5 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -687,7 +687,7 @@ MulticopterPositionControl::run()
setpoint.thrust[0] = setpoint.thrust[1] = NAN;
if (PX4_ISFINITE(_states.velocity(0)) && PX4_ISFINITE(_states.velocity(1))) {
- setpoint.vx = setpoint.vy = NAN; // try to keep zero velocity
+ setpoint.vx = setpoint.vy = 0.0f; // try to keep zero velocity
} else {
setpoint.thrust[0] = setpoint.thrust[1] = 0.0f; // just keeping pointing upwards
--
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