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FlightModeManager: fix takeoff ramp from zero

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This commit is contained in:
Matthias Grob
2020-10-24 13:15:00 +02:00
committed by Daniel Agar
parent 88c274b3cd
commit 8329208b84
4 changed files with 11 additions and 7 deletions
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src/modules/flight_mode_manager/FlightModeManager.cpp
+7 -6
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@@ -464,13 +464,14 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
_trajectory_setpoint_pub.publish(setpoint);
// if (flying) { TODO
// _control.setThrustLimits(_param_mpc_thr_min.get(), _param_mpc_thr_max.get());
// Allow ramping from zero thrust on takeoff
if (flying) {
constraints.minimum_thrust = _param_mpc_thr_min.get();
// } else {
// // allow zero thrust when taking off and landing
// _control.setThrustLimits(0.f, _param_mpc_thr_max.get());
// }
} else {
// allow zero thrust when taking off and landing
constraints.minimum_thrust = 0.f;
}
// fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN
// TODO: this should get obsolete once the takeoff limiting moves into the flight tasks