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mc_pos_control_main: trigger failsafe if no setpoint along D-direction is valid

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Dennis Mannhart
2018-07-11 09:01:02 +02:00
committed by Lorenz Meier
parent 9362f844f4
commit ab1ae1fb4e
1 changed files with 6 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+6
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@@ -561,6 +561,12 @@ MulticopterPositionControl::task_main()
!(PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]))) {
failsafe(setpoint, _states);
}
// Check if altitude, climbrate or thrust in D-direction are valid -> trigger failsafe if none
// of these setpoints are valid
if (!PX4_ISFINITE(setpoint.z) && !PX4_ISFINITE(setpoint.vz) && !PX4_ISFINITE(setpoint.thrust[2])) {
failsafe(setpoint, _states);
}
}
vehicle_constraints_s constraints = _flight_tasks.getConstraints();