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FW PosC: remove hack to force _landed to false if (not)launch_detected, as it is now handles in land detector

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-09 16:35:45 +01:00
parent df1cd4f147
commit 1b89f26691
1 changed files with 0 additions and 4 deletions
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4
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -1585,8 +1585,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_att_sp.roll_body = _l1_control.get_roll_setpoint();
}
/* Select throttle: only in LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS we want to use
* full throttle, otherwise we use idle throttle */
const float max_takeoff_throttle = (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) ?
_param_fw_thr_idle.get() : _param_fw_thr_max.get();
@ -2264,8 +2262,6 @@ FixedwingPositionControl::Run()
if (_vehicle_land_detected_sub.update(&vehicle_land_detected)) {
_landed = vehicle_land_detected.landed;
if (_launch_detected) {_landed = false;}
}
}