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mc_pos_control: takeoff threshold to 0.65

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Dennis Mannhart 2017-10-06 10:52:30 +02:00 committed by Lorenz Meier
parent 7229ec2a37
commit 44a71d90f5
1 changed files with 2 additions and 4 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2964,10 +2964,8 @@ bool MulticopterPositionControl::manual_wants_takeoff()
{
const bool has_manual_control_present = _control_mode.flag_control_manual_enabled && _manual.timestamp > 0;
// If the throttle stick is well above 50%, so above 62.5% (50% + 0.15 * 50%) we trigger manual takeoff.
const bool manual_wants_takeoff = (has_manual_control_present && _manual.z > 0.15f);
return manual_wants_takeoff;
// Manual takeoff is triggered if the throttle stick is above 65%.
return (has_manual_control_present && _manual.z > 0.65f);
}
void