From 0cbb2c7f234646ba8195a376e4fac12d751510fe Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 23 Feb 2016 14:58:23 -0500 Subject: [PATCH] FW ALTCTL/POSCTL remove 0 throttle threshold when not landed --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index fadb04b360..9997d502b5 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1804,7 +1804,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* throttle limiting */ throttle_max = _parameters.throttle_max; - if (fabsf(_manual.z) < THROTTLE_THRESH) { + if (_vehicle_status.condition_landed && (fabsf(_manual.z) < THROTTLE_THRESH)) { throttle_max = 0.0f; } @@ -1919,7 +1919,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* throttle limiting */ throttle_max = _parameters.throttle_max; - if (fabsf(_manual.z) < THROTTLE_THRESH) { + if (_vehicle_status.condition_landed && (fabsf(_manual.z) < THROTTLE_THRESH)) { throttle_max = 0.0f; }