From 7a822c9db27792bfd3fd478789ae71504f8c3cf3 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis.mannhart@gmail.com>
Date: Thu, 1 Jun 2017 10:00:39 +0200
Subject: [PATCH] mc_pos_control: don't use slewrate in mission
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 +++++-
1 file changed, 5 insertions(+), 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 b686fffe0f..eea1dd5cd8 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1952,7 +1952,11 @@ MulticopterPositionControl::calculate_velocity_setpoint(float dt)
_vel_sp(2) = math::min(_vel_sp(2), vel_limit);
/* apply slewrate (aka acceleration limit) for smooth flying */
- vel_sp_slewrate(dt);
+
+ if (!_control_mode.flag_control_auto_enabled) {
+ vel_sp_slewrate(dt);
+ }
+
_vel_sp_prev = _vel_sp;
/* special velocity setpoint limitation for smooth takeoff (after slewrate!) */
--
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