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mc_pos_control: fix potential thrust spike on hover thrust change

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Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Mathieu Bresciani
2023-05-09 03:42:25 +02:00
committed by GitHub
parent da14650aa2
commit 1e4fcfc614
3 changed files with 15 additions and 11 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
-1
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@@ -506,7 +506,6 @@ void MulticopterPositionControl::Run()
// Allow ramping from zero thrust on takeoff
const float minimum_thrust = flying ? _param_mpc_thr_min.get() : 0.f;
_control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get());
float max_speed_xy = _param_mpc_xy_vel_max.get();