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MulticopterPositionControl: publish stricter tilt limit during takeoff

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This commit is contained in:
Matthias Grob
2021-04-13 17:15:15 +02:00
parent ff67da1bb4
commit 29e07b1e52
3 changed files with 9 additions and 10 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+6 -7
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@@ -461,13 +461,12 @@ void MulticopterPositionControl::Run()
// Publish takeoff status
const uint8_t takeoff_state = static_cast<uint8_t>(_takeoff.getTakeoffState());
if (takeoff_state != _old_takeoff_state) {
takeoff_status_s takeoff_status{};
takeoff_status.takeoff_state = takeoff_state;
takeoff_status.timestamp = hrt_absolute_time();
_takeoff_status_pub.publish(takeoff_status);
_old_takeoff_state = takeoff_state;
if (takeoff_state != _takeoff_status_pub.get().takeoff_state
|| !isEqualF(_tilt_limit_slew_rate.getState(), _takeoff_status_pub.get().tilt_limit)) {
_takeoff_status_pub.get().takeoff_state = takeoff_state;
_takeoff_status_pub.get().tilt_limit = _tilt_limit_slew_rate.getState();
_takeoff_status_pub.get().timestamp = hrt_absolute_time();
_takeoff_status_pub.update();
}
// save latest reset counters