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Standard: fill att_sp.thrust[0] with _pusher_thr value during transition to FW (#21520)

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Once passed the transition and in FW mode, it takes some ms unitl the FW att sp is updated
by the FW att controller. During this time the last published attitude sp is kept bein used,
which is the one that was published during transition. So let's fill the thrust[0] of it.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-04-27 17:30:36 +02:00
committed by GitHub
parent f76399be5e
commit bfc1e36f45
1 changed files with 2 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
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@@ -226,6 +226,8 @@ void Standard::update_transition_state()
// ramp up FW_PSP_OFF
_v_att_sp->pitch_body = math::radians(_param_fw_psp_off.get()) * (1.0f - mc_weight);
_v_att_sp->thrust_body[0] = _pusher_throttle;
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
q_sp.copyTo(_v_att_sp->q_d);