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Tilt-Hex Pos-Ctrl: (WIP) Started code for attitude setpoint generation for omni vehicles

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Azarakhsh Keipour
2019-10-02 19:39:28 -04:00
parent a0a0c2280b
commit 8bfdf29055
3 changed files with 28 additions and 5 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2
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@@ -910,6 +910,8 @@ MulticopterPositionControl::limit_thrust_during_landing(vehicle_attitude_setpoin
if (_vehicle_land_detected.ground_contact
|| _vehicle_land_detected.maybe_landed) {
// we set the collective thrust to zero, this will help to decide if we are actually landed or not
setpoint.thrust_body[0] = 0.f;
setpoint.thrust_body[1] = 0.f;
setpoint.thrust_body[2] = 0.f;
// go level to avoid corrections but keep the heading we have
Quatf(AxisAngle<float>(0, 0, _states.yaw)).copyTo(setpoint.q_d);