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position control: fix failsafe thrust

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invert direction to point upwards and increase to 70% of throttle range between min and hover
This commit is contained in:
ChristophTobler
2018-07-10 11:31:23 +02:00
committed by Lorenz Meier
parent 7cc85885a4
commit 9362f844f4
1 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+2 -2
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@@ -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);
}
}