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FW position control: catapult/hand-launch: enable without launch detection

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-04-09 10:22:42 +02:00
parent 6fec452c4b
commit 974ead4015
1 changed files with 2 additions and 4 deletions
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6
src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@ -1551,8 +1551,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_launchDetector.forceSetFlyState();
}
if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_fw_laun_detcn_on.get()) {
if (!_launch_detected && _launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH) {
_launch_detected = true;
_launch_global_position = global_position;
_takeoff_ground_alt = _current_altitude;
@ -1577,8 +1576,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
/* Set control values depending on the detection state */
if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH
&& _param_fw_laun_detcn_on.get()) {
if (_launchDetector.getLaunchDetected() > launch_detection_status_s::STATE_WAITING_FOR_LAUNCH) {
/* Launch has been detected, hence we have to control the plane. */
float target_airspeed = adapt_airspeed_setpoint(control_interval, takeoff_airspeed, adjusted_min_airspeed, ground_speed,