AC_PosControl: add clear_desired_velocity_ff_z method

Yukong · Apr 28, 2017 · 6e92f74 · 6e92f74
1 parent aab27d8
commit 6e92f74
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -220,6 +220,9 @@ class AC_PosControl
     /// set_desired_velocity_z - sets desired velocity in cm/s in z axis
     void set_desired_velocity_z(float vel_z_cms) {_vel_desired.z = vel_z_cms;}
 
+    // clear desired velocity feed-forward in z axis
+    void clear_desired_velocity_ff_z() { _flags.use_desvel_ff_z = false; }
+
     /// set_desired_velocity_xy - sets desired velocity in cm/s in lat and lon directions
     ///     when update_xy_controller is next called the position target is moved based on the desired velocity and
     ///     the desired velocities are fed forward into the rate_to_accel step