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FW Position Control: disable underspeed handling during auto takeoff

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-08-09 14:22:33 +02:00
parent afc360d637
commit acc0cd7e8a
1 changed files with 4 additions and 2 deletions
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6
src/modules/fw_pos_control/FixedwingPositionControl.cpp
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@ -1549,7 +1549,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_param_fw_thr_min.get(),
_param_fw_thr_max.get(),
_param_sinkrate_target.get(),
_performance_model.getMaximumClimbRate(_air_density));
_performance_model.getMaximumClimbRate(_air_density),
true); // disable underspeed handling
_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); // reset after TECS calculation
@ -1634,7 +1635,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_param_fw_thr_min.get(),
max_takeoff_throttle,
_param_sinkrate_target.get(),
_performance_model.getMaximumClimbRate(_air_density));
_performance_model.getMaximumClimbRate(_air_density),
true); // disable underspeed handling
if (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
// explicitly set idle throttle until motors are enabled