From 44a71d90f5cc01a45f8b38e1853dca9d45bae8b6 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 6 Oct 2017 10:52:30 +0200 Subject: [PATCH] mc_pos_control: takeoff threshold to 0.65 --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index e0a1e71c36..5d71dd407c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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