From 083abb582438e2f723e6b4188b48edf4db6e18b6 Mon Sep 17 00:00:00 2001 From: Balduin Date: Tue, 10 Mar 2026 13:58:40 +0100 Subject: [PATCH] fix(standard.cpp): stop pusher in MC if low throttle --- src/modules/vtol_att_control/standard.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 6c5bba004e..6198064bb6 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -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: