UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-29 18:28:03 +08:00
Code Issues Packages Projects Releases Wiki Activity

Smoothen external flight mode GotoControl to Mission transitions (#26254)

Browse Source
This commit is contained in:
nlsxp
2026-02-13 14:06:47 +01:00
committed by GitHub
parent c90811a277
commit 302d0601bf
6 changed files with 31 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/mc_pos_control/MulticopterPositionControl.cpp
View File

@@ -433,7 +433,7 @@ void MulticopterPositionControl::Run()
&& !_trajectory_setpoint_sub.updated();
if (_goto_control.checkForSetpoint(vehicle_local_position.timestamp_sample, goto_setpoint_enable)) {
_goto_control.update(dt, states.position, states.yaw);
_goto_control.update(dt, states.position, states.velocity, states.acceleration, states.yaw);
}
_trajectory_setpoint_sub.update(&_setpoint);