From acc0cd7e8ad915eaede3f7efaa58bbb831c12628 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 9 Aug 2024 14:22:33 +0200 Subject: [PATCH] FW Position Control: disable underspeed handling during auto takeoff Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 9d126262fb..5143a4da38 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -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