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Disable PA during landing

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This commit is contained in:
sanderux
2017-08-16 08:19:06 +02:00
committed by Lorenz Meier
parent e6c942033b
commit 33e67fd527
3 changed files with 15 additions and 14 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -2
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@@ -407,8 +407,9 @@ void Standard::update_mc_state()
return;
}
// disable pusher assist when descending
if (PX4_ISFINITE(_attc->get_local_pos_sp()->vz) && _attc->get_local_pos_sp()->vz > 0.5f) {
// disable pusher assist during landing
if (_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
return;
}