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ThrowLaunch: check ThrowMode parameter to skip takoff in MulticopterPositionControl

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Signed-off-by: Michał Barciś <mbarcis@mbarcis.net>
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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
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
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@@ -148,6 +148,7 @@ private:
// Takeoff / Land
(ParamFloat<px4::params::COM_SPOOLUP_TIME>) _param_com_spoolup_time, /**< time to let motors spool up after arming */
(ParamBool<px4::params::COM_THROW_EN>) _param_com_throw_en, /**< throw launch enabled */
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t, /**< time constant for smooth takeoff ramp */
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,