From 8b7c0746800b3597d9418f6442696a1f6fbf3e71 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 17 Nov 2022 11:03:05 +0100 Subject: [PATCH] FW Position Control: remove 0.9 mergin factor on stall vs min param comparison Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index ce9b538641..4cf69f81ed 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -189,15 +189,15 @@ FixedwingPositionControl::parameters_update() check_ret = PX4_ERROR; } - if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get() * 0.9f) { - mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Stall airspeed higher than 0.9 of min\t"); + if (_param_fw_airspd_stall.get() > _param_fw_airspd_min.get()) { + mavlink_log_critical(&_mavlink_log_pub, "Config invalid: FW_AIRSPD_STALL airspeed higher than FW_AIRSPD_MIN\t"); /* EVENT * @description * - FW_AIRSPD_MIN: {1:.1} * - FW_AIRSPD_STALL: {2:.1} */ events::send(events::ID("fixedwing_position_control_conf_invalid_stall"), events::Log::Error, - "Invalid configuration: Stall airspeed higher than 90% of minimum airspeed", + "Invalid configuration: FW_AIRSPD_STALL higher FW_AIRSPD_MIN", _param_fw_airspd_min.get(), _param_fw_airspd_stall.get()); check_ret = PX4_ERROR; }