From 170f6b2c963775b55b852d6ba761ce0754ce29a5 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Wed, 11 Apr 2018 08:56:04 +0200 Subject: [PATCH] mc_pos_control: takeoff speed to new param type --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) 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 cca69e315c1d..c34a6199d495 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -3095,7 +3095,7 @@ MulticopterPositionControl::task_main() // Adjust for different takeoff cases. // The minimum takeoff altitude needs to be at least 20cm above current position if ((PX4_ISFINITE(setpoint.z) && setpoint.z < _pos(2) - 0.2f) || - (PX4_ISFINITE(setpoint.vz) && setpoint.vz < math::min(-_params.tko_speed, -0.6f))) { + (PX4_ISFINITE(setpoint.vz) && setpoint.vz < math::min(-_tko_speed.get(), -0.6f))) { // There is a position setpoint above current position or velocity setpoint larger than // takeoff speed. Enable smooth takeoff. _in_smooth_takeoff = true; @@ -3116,7 +3116,7 @@ MulticopterPositionControl::task_main() // If there is a valid position setpoint, then set the desired speed to the takeoff speed. if (PX4_ISFINITE(setpoint.z)) { - desired_tko_speed = _params.tko_speed; + desired_tko_speed = _tko_speed.get(); } // Ramp up takeoff speed.