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Takeoff: address @RomanBapst's review comments

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Matthias Grob
2019-05-22 22:05:38 +02:00
committed by Lorenz Meier
parent 1c776f16ec
commit ea48cd4970
5 changed files with 21 additions and 5 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+1 -1
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@@ -152,7 +152,7 @@ bool FlightTask::_checkTakeoff()
bool position_triggered_takeoff = false;
if (PX4_ISFINITE(_position_setpoint(2))) {
//minimal altitude either 20cm or what is necessary for correct estimation e.g. optical flow
// minimal altitude either 20cm or what is necessary for correct estimation e.g. optical flow
float min_altitude = 0.2f;
const float min_distance_to_ground = _sub_vehicle_local_position->get().hagl_min;
src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+1 -1
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@@ -347,7 +347,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
bool FlightTaskManualAltitude::_checkTakeoff()
{
// stick is deflected above the middle 15% of the range
// stick is deflected above 65% throttle (_sticks(2) is in the range [-1,1])
return _sticks(2) < -0.3f;
}