From 1b89f26691a46897bdfd23ed7e0c04c826ae2583 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 9 Nov 2022 16:35:45 +0100 Subject: [PATCH] FW PosC: remove hack to force _landed to false if (not)launch_detected, as it is now handles in land detector Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 4 ---- 1 file changed, 4 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index a80d71abdf..d91fdf2e39 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -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;} } }