Changeset 177 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.cpp

Timestamp:

04/27/17 17:49:17 (7 years ago)

Author:

Sanahuja Guillaume

Message:

use current zvel when switching from starttakingoff to stabilized into the traj generator

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (1 diff)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -279 +279 @@
     if (currentAltitude > groundAltitude + 0.03) {
       altitudeTrajectory->StartTraj(currentAltitude,
-                                    desiredTakeoffAltitude->Value());
+                                    desiredTakeoffAltitude->Value(),currentVerticalSpeed);
       altitudeState = AltitudeState_t::Stabilized;
       SignalEvent(Event_t::Stabilized);