From 6fec452c4bcaca51c203d648f1d23fe563714012 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 9 Apr 2024 09:59:49 +0200 Subject: [PATCH] FW position control: catapult/hand-launch: do not cut throttle if not landed Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 4bb1d5ee31..f8d8844ef0 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -1609,7 +1609,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo _att_sp.thrust_body[0] = _param_fw_thr_idle.get(); } else { - _att_sp.thrust_body[0] = (_landed) ? min(_param_fw_thr_idle.get(), 1.f) : get_tecs_thrust(); + _att_sp.thrust_body[0] = get_tecs_thrust(); } _att_sp.pitch_body = get_tecs_pitch();