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MC stabilized: allow yaw control at 0 throttle if yaw-airmode is selected

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Beat Küng
2018-12-13 09:50:07 +01:00
parent 24dc316973
commit c665c34d2a
2 changed files with 4 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control.hpp
+3 -1
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@@ -269,7 +269,9 @@ private:
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _man_throttle_min, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover, /**< throttle at which vehicle is at hover equilibrium */
(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve /**< throttle curve behavior */
(ParamInt<px4::params::MPC_THR_CURVE>) _throttle_curve, /**< throttle curve behavior */
(ParamInt<px4::params::MC_AIRMODE>) _airmode
)
matrix::Vector3f _attitude_p; /**< P gain for attitude control */