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use spoilers also in NAVIGATION_STATE_DESCEND

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thomas
2022-11-28 18:04:22 +01:00
parent f16286f3eb
commit 749e0b6b73
2 changed files with 4 additions and 2 deletions
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src/modules/vtol_att_control/vtol_att_control_main.h
+1
View File
@@ -152,6 +152,7 @@ public:
struct vehicle_torque_setpoint_s *get_torque_setpoint_1() {return &_torque_setpoint_1;}
struct vehicle_thrust_setpoint_s *get_thrust_setpoint_0() {return &_thrust_setpoint_0;}
struct vehicle_thrust_setpoint_s *get_thrust_setpoint_1() {return &_thrust_setpoint_1;}
struct vehicle_status_s *get_vehicle_status() {return &_vehicle_status;}
struct vtol_vehicle_status_s *get_vtol_vehicle_status() {return &_vtol_vehicle_status;}
private:
src/modules/vtol_att_control/vtol_type.cpp
+3 -2
View File
@@ -109,8 +109,9 @@ void VtolType::update_mc_state()
float spoiler_setpoint_hover = 0.f;
if (_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if ((_attc->get_pos_sp_triplet()->current.valid
&& _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND)
|| _attc->get_vehicle_status()->nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND) {
spoiler_setpoint_hover = _param_vt_spoiler_mc_ld.get();
}