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MulticopterPositionControl: readd takeoff ramp fix

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added in #14821 and accidentally removed in #14665
This commit is contained in:
Matthias Grob
2021-03-31 15:21:42 +02:00
parent 752bc9ebce
commit 8fec39ad39
1 changed files with 5 additions and 0 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@@ -365,6 +365,11 @@ void MulticopterPositionControl::Run()
const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight); const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);
const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact); 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) { if (not_taken_off || flying_but_ground_contact) {
// we are not flying yet and need to avoid any corrections // we are not flying yet and need to avoid any corrections
reset_setpoint_to_nan(_setpoint); reset_setpoint_to_nan(_setpoint);