From 9362f844f498dd41ae26889570f7fd1d9555867f Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Tue, 10 Jul 2018 11:31:23 +0200 Subject: [PATCH] position control: fix failsafe thrust invert direction to point upwards and increase to 70% of throttle range between min and hover --- src/modules/mc_pos_control/PositionControl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index b25d49d01f..bb8645cf3f 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -206,8 +206,8 @@ void PositionControl::_interfaceMapping() // point the thrust upwards _thr_sp(0) = _thr_sp(1) = 0.0f; // throttle down such that vehicle goes down with - // 30% of throttle range between min and hover - _thr_sp(2) = MPC_THR_MIN.get() + (MPC_THR_HOVER.get() - MPC_THR_MIN.get()) * 0.3f; + // 70% of throttle range between min and hover + _thr_sp(2) = -(MPC_THR_MIN.get() + (MPC_THR_HOVER.get() - MPC_THR_MIN.get()) * 0.7f); } }