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quick fix:

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Remove throttle non-increase condition for landing since this has lead to
quads falling out of the sky.
This commit is contained in:
tumbili
2016-01-15 16:15:27 +01:00
parent c77a2acb93
commit be1db2ced5
1 changed files with 4 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4
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@@ -1494,6 +1494,9 @@ MulticopterPositionControl::task_main()
_landing_started = hrt_absolute_time(); _landing_started = hrt_absolute_time();
} }
#if 0
// TODO quick fix: remove this since in combination with the non-working fall detection
// it can lead to the copter falling out of the sky
/* don't let it throttle up again during landing */ /* don't let it throttle up again during landing */
if (thrust_sp(2) < 0.0f && thrust_abs < _landing_thrust if (thrust_sp(2) < 0.0f && thrust_abs < _landing_thrust
/* fix landing thrust after a certain time when velocity change is minimal */ /* fix landing thrust after a certain time when velocity change is minimal */
@@ -1502,6 +1505,7 @@ MulticopterPositionControl::task_main()
&& hrt_elapsed_time(&_landing_started) > 15e5) { && hrt_elapsed_time(&_landing_started) > 15e5) {
_landing_thrust = thrust_abs; _landing_thrust = thrust_abs;
} }
#endif
/* assume ground, reduce thrust */ /* assume ground, reduce thrust */
if (hrt_elapsed_time(&_landing_started) > 15e5 if (hrt_elapsed_time(&_landing_started) > 15e5