fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 15:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ThrowLaunch: check ThrowMode parameter to skip takoff in MulticopterPositionControl

Browse Source 
Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
This commit is contained in:
Michał Barciś
2023-11-03 17:37:05 +04:00
committed by Matthias Grob
parent 9d455d5f1f
commit 6800a448b0
6 changed files with 13 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/MulticopterPositionControl.cpp
+2 -1
View File
@@ -466,10 +466,11 @@ void MulticopterPositionControl::Run()
_vehicle_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
}
bool skip_takeoff = _param_com_throw_en.get();
// handle smooth takeoff
_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed,
_vehicle_constraints.want_takeoff,
_vehicle_constraints.speed_up, false, vehicle_local_position.timestamp_sample);
_vehicle_constraints.speed_up, skip_takeoff, vehicle_local_position.timestamp_sample);
const bool not_taken_off = (_takeoff.getTakeoffState() < TakeoffState::rampup);
const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);