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fw-lat-lon: set altitude setpoint to NAN if height rate setpoint is provided.

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When both are set, TECS only considers the height rate.
This commit is contained in:
mahima-yoga
2025-05-19 09:21:43 +02:00
committed by Silvan
parent c9a3d9e7f2
commit 1a6b16c8ce
1 changed files with 4 additions and 1 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+4 -1
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@@ -206,7 +206,10 @@ void FwLateralLongitudinalControl::Run()
const float airspeed_sp_eas = adapt_airspeed_setpoint(control_interval, _long_control_sp.equivalent_airspeed,
_min_airspeed_from_guidance, _lateral_control_state.wind_speed.length());
tecs_update_pitch_throttle(control_interval, _long_control_sp.altitude,
// If the both altitude and height rate are set, set altitude setpoint to NAN
const float altitude_sp = PX4_ISFINITE(_long_control_sp.height_rate) ? NAN : _long_control_sp.altitude;
tecs_update_pitch_throttle(control_interval, altitude_sp,
airspeed_sp_eas,
_long_configuration.pitch_min,
_long_configuration.pitch_max,