mc_pos_control: fix z velocity derivative sign #15836
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NicolasM0
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Thanks for the bugfix @NicolasM0 |
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Describe problem solved by this pull request
It seems that z velocity derivative part off multi-copter position controller has a sign error.
Describe your solution
Change sign
Test data / coverage
On master with SIH, try to set MPC_Z_VEL_D_ACC to 2 : vertical oscillations begin. Then try to set it to -2 or even -4 : the drone stabilizes.
Additional context
As MPC_Z_VEL_D_ACC default value is 0, it has no impact.
@MaEtUgR: this regression seems linked to this commit: 38093e4