mc_pos_control: use normal slewrate when posiiton control enabled

PX4 · Mar 27, 2017 · e73eec7 · e73eec7
1 parent c9a4dcf
commit e73eec7
Showing 1 changed file with 4 additions and 4 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
@@ -1374,11 +1374,11 @@ MulticopterPositionControl::vel_sp_slewrate(float dt)
 
 	float acc_limit = _acceleration_hor_max.get();
 
-	/* deceleration but no direction change */
-	bool slow_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) > 0.0f);
+	/* deceleration but no direction change and not position control*/
+	bool slow_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) > 0.0f) && !_run_pos_control;
 
-	/* deceleration with direction change */
-	bool fast_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) <= 0.0f);
+	/* deceleration with direction change and not position control*/
+	bool fast_deceleration = ((acc_xy * vel_xy) < 0.0f) && ((vel_sp_xy * vel_xy) <= 0.0f) && !_run_pos_control;
 
 	if (slow_deceleration) {
 		acc_limit = _deceleration_hor_slow.get();