From f799141a1911179f5f389e8d3c1f33eac68502b9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 09:40:43 +0100 Subject: [PATCH] FW Pos Controller: do not publish roll angle constrained warning if landed (#22850) Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index f850e6e22a..970ec95fe3 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -522,7 +522,7 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint() _time_since_first_reduced_roll = 0U; } - if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD) { + if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) { // NPFG reports a good condition or we are in transition, reset the user warning variables. _need_report_npfg_uncertain_condition = true; _time_since_first_reduced_roll = 0U;