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FlightTasks: do not adjust tilt limit of the position control

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Adjusting the tilt limit can lead to diverging position control
and should only be used by setting a sanity limit for the controller
and not to adjust during the descent phase of a Land or RTL.
Otherwise it leads to flyaways in important failsafe modes when
there's stronger disturbance e.g. wind.
This commit is contained in:
Matthias Grob
2020-04-21 09:35:52 +02:00
committed by Lorenz Meier
parent 95779ea670
commit 809b45eac8
6 changed files with 4 additions and 13 deletions
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src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
-2
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@@ -61,8 +61,6 @@ bool FlightTaskManualPosition::activate(vehicle_local_position_setpoint_s last_s
// all requirements from altitude-mode still have to hold
bool ret = FlightTaskManualAltitude::activate(last_setpoint);
_constraints.tilt = math::radians(_param_mpc_tiltmax_air.get());
// set task specific constraint
if (_constraints.speed_xy >= _param_mpc_vel_manual.get()) {
_constraints.speed_xy = _param_mpc_vel_manual.get();