From 4e3f65e376b91b6856937aadaaff98da88c549d3 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Mon, 2 Mar 2020 18:37:55 +0100 Subject: [PATCH] disable spinup tilt sequence if spinup tilt parameter is set to 0 Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 429ecceedb..1c5d85a2c0 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -226,7 +226,7 @@ void Tiltrotor::update_mc_state() // reset this timestamp while disarmed if (!_v_control_mode->flag_armed) { _last_timestamp_disarmed = hrt_absolute_time(); - _tilt_motors_for_startup = true; + _tilt_motors_for_startup = _params_tiltrotor.tilt_spinup > 0.01f; // spinup phase only required if spinup tilt > 0 } else if (_tilt_motors_for_startup) { // leave motors tilted forward after arming to allow them to spin up easier