From 8e2c52a31afbc16563a6b8d92aebcc758b6e38da Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 4 May 2020 13:12:34 +0200 Subject: [PATCH] mc_pos_control: suppress vertical acceleration feed-forward during takeoff ramp Because the takeoff ramp is a vertical velocity limit ramp for the nice user experience but the acceleration feed-forward can add on top of the output and depending on trajectory generation result in unwanted thrust changes during the ramp. --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index c45638981f..e82dece0fc 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -616,6 +616,7 @@ MulticopterPositionControl::Run() // limit tilt during takeoff ramupup if (_takeoff.getTakeoffState() < TakeoffState::flight) { constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get()); + setpoint.acceleration[2] = NAN; } // limit altitude only if local position is valid