From 8fec39ad396e427f310830cb453e4e235565ddaf Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 31 Mar 2021 13:46:34 +0200 Subject: [PATCH] MulticopterPositionControl: readd takeoff ramp fix added in #14821 and accidentally removed in #14665 --- src/modules/mc_pos_control/MulticopterPositionControl.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index 55e361ab06..ceeba50453 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -365,6 +365,11 @@ void MulticopterPositionControl::Run() const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight); const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact); + // make sure takeoff ramp is not amended by acceleration feed-forward + if (!flying) { + _setpoint.acceleration[2] = NAN; + } + if (not_taken_off || flying_but_ground_contact) { // we are not flying yet and need to avoid any corrections reset_setpoint_to_nan(_setpoint);