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fix(standard.cpp): stop pusher in MC if low throttle

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Balduin
2026-03-10 15:08:57 +01:00
parent b529c4802c
commit 083abb5824
1 changed files with 4 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+4 -1
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@@ -330,7 +330,10 @@ void Standard::fill_actuator_outputs()
_torque_setpoint_1->xyz[1] = _vehicle_torque_setpoint_virtual_fw->xyz[1];
}
_thrust_setpoint_0->xyz[0] = _pusher_throttle;
// Stop motor by sending NAN (see VehicleThrustSetpoint.msg) if setpoint
// below 2%. This value was determined empirically (RC stick inaccuracy)
_thrust_setpoint_0->xyz[0] = _pusher_throttle < 0.02f ? NAN : _pusher_throttle;;
break;
case vtol_mode::TRANSITION_TO_FW: