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FW ALTCTL/POSCTL remove 0 throttle threshold when not landed

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Daniel Agar
2016-03-03 10:14:19 +01:00
committed by Lorenz Meier
parent 9ab0674107
commit 0cbb2c7f23
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -2
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@@ -1804,7 +1804,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_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> &current_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;
}