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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2020-04-02 13:45:52 +03:00
committed by Roman Bapst
parent 0184d8196f
commit a916cc2a26
2 changed files with 5 additions and 1 deletions
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src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp
+3 -1
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@@ -60,8 +60,10 @@ void FlightTaskTransition::checkSetpoints(vehicle_local_position_setpoint_s &set
bool FlightTaskTransition::update()
{
// level wings during the transition, altitude should be controlled
_acceleration_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
// demand zero vertical velocity and level attitude
// tailsitters will override attitude and thrust setpoint
// tiltrotors and standard vtol will overrride roll and pitch setpoint but keep vertical thrust setpoint
_position_setpoint *= NAN;
_velocity_setpoint(2) = 0.0f;
_position_setpoint(2) = NAN;