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pusher_assist: turn off pusher completely if not used

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This commit is contained in:
Balduin 2026-02-18 13:42:19 +01:00
parent 189bdf05f7
commit 6032cf16ca
1 changed files with 6 additions and 0 deletions
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6
src/modules/vtol_att_control/vtol_type.cpp
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@ -533,6 +533,12 @@ float VtolType::pusher_assist()
q_sp.copyTo(_v_att_sp->q_d);
}
// Stop motor by sending NAN (see VehicleThrustSetpoint.msg) if setpoint
// below 2%. This value was determined empirically (RC stick inaccuracy)
if (forward_thrust < 0.02f) {
forward_thrust = NAN;
}
return forward_thrust;
}