fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 06:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FW Position Control: disable underspeed handling during auto takeoff

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-08-13 16:55:26 +02:00
parent afc360d637
commit acc0cd7e8a
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control/FixedwingPositionControl.cpp
+4 -2
View File
@@ -1549,7 +1549,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_param_fw_thr_min.get(), _param_fw_thr_min.get(),
_param_fw_thr_max.get(), _param_fw_thr_max.get(),
_param_sinkrate_target.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 _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(), _param_fw_thr_min.get(),
max_takeoff_throttle, max_takeoff_throttle,
_param_sinkrate_target.get(), _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) { if (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
// explicitly set idle throttle until motors are enabled // explicitly set idle throttle until motors are enabled