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mc_pos_control takeoff: control velocity if velocity estimation is available, otherwise

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just keep thrust vector pointing upward
This commit is contained in:
Dennis Mannhart
2018-09-12 15:31:01 +02:00
committed by Daniel Agar
parent dbd1e1432a
commit 4b70584cf4
1 changed files with 8 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -1
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@@ -684,7 +684,14 @@ MulticopterPositionControl::run()
// don't control position in xy // don't control position in xy
setpoint.x = setpoint.y = NAN; setpoint.x = setpoint.y = NAN;
setpoint.vx = setpoint.vy = NAN; setpoint.vx = setpoint.vy = NAN;
setpoint.thrust[0] = setpoint.thrust[1] = 0.0f; // just keeping pointing upwards setpoint.thrust[0] = setpoint.thrust[1] = NAN;
if (PX4_ISFINITE(_states.velocity(0)) && PX4_ISFINITE(_states.velocity(1))) {
setpoint.vx = setpoint.vy = NAN; // try to keep zero velocity
} else {
setpoint.thrust[0] = setpoint.thrust[1] = 0.0f; // just keeping pointing upwards
}
} }
if (_vehicle_land_detected.landed && !_in_smooth_takeoff && !PX4_ISFINITE(setpoint.thrust[2])) { if (_vehicle_land_detected.landed && !_in_smooth_takeoff && !PX4_ISFINITE(setpoint.thrust[2])) {