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mc_att_control: fix having high thrust when disarmed

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After boot the user is in manual mode and if he has an RC
but doesn't switch out the thrust gets set to the throttle stick
position. When he then starts a takeoff from tablet the thrust is still
high while arming and the land detector immediately sees a takeoff
skiping smooth takeoff from the position controller.
This commit is contained in:
Matthias Grob 2019-05-11 21:40:07 +02:00 committed by Lorenz Meier
parent ae96e16c73
commit 9ba748e67e
1 changed files with 4 additions and 1 deletions
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5
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -500,7 +500,10 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
q_sp.copyTo(attitude_setpoint.q_d);
attitude_setpoint.q_d_valid = true;
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
// hotfix: make sure to leave a zero thrust setpoint for position controller to take over after initialization in manual mode
// without this the actuator_controls thrust stays like it was set here when switching to a position controlled mode and the
// land detector will immediately detect takeoff when arming
attitude_setpoint.thrust_body[2] = _v_control_mode.flag_armed ? -throttle_curve(_manual_control_sp.z) : 0.0f;
attitude_setpoint.timestamp = hrt_absolute_time();
if (_attitude_sp_id != nullptr) {
orb_publish_auto(_attitude_sp_id, &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);