fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 16:48:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint

Browse Source
This commit is contained in:
Dennis Mannhart
2017-08-01 19:31:34 +02:00
committed by Lorenz Meier
parent 03d86054a4
commit 4692ccf287
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
View File
@@ -1828,7 +1828,8 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
thrust_sp = _R * thrust_sp_body;
}
if (_vehicle_land_detected.maybe_landed) {
if (_vehicle_land_detected.maybe_landed
&& !(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
/* we set thrust to zero
* this will help to decide if we are actually landed or not
*/