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FW Pos Controller: do not publish roll angle constrained warning if landed (#22850)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-03-08 09:40:43 +01:00
committed by GitHub
parent e20215087f
commit f799141a19
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+1 -1
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@@ -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;