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Disable pusher assist when descending

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This commit is contained in:
sanderux
2017-08-16 08:19:06 +02:00
committed by Lorenz Meier
parent 8f5293d7b0
commit e6c942033b
3 changed files with 31 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+6
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@@ -407,6 +407,12 @@ void Standard::update_mc_state()
return;
}
// disable pusher assist when descending
if (PX4_ISFINITE(_attc->get_local_pos_sp()->vz) && _attc->get_local_pos_sp()->vz > 0.5f) {
return;
}
matrix::Dcmf R(matrix::Quatf(_v_att->q));
matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d));
matrix::Eulerf euler(R);