Matthias Grob a38bdcfc9d MulticopterPositionControl: fix amending existing idle setpoint from before takeoff ...

once the rampup starts. The rampup requires a valid vertical velocity setpoint.
The corner case is:
- We are before takeoff and amending the setpoint to be 0,0,100 acceleration
in order to idle
- The rampup starts BUT the setpoint is not yet overwritten by the trajectory
setpoint topic
- The idle setpoint gets amended to not contain a feed-forward vertical
acceleration because the rampup is velocity based
- The result is a brief invalid 0,0,NAN acceleration setpoint
- That invalid setpoint gets overridden by a failsafe that holds zero velocity
- Zero velocity leads to applying ~hover thrust briefly

2022-11-09 17:13:22 +01:00

..

PositionControl

FW separate reset integrals for messages (#20502)

2022-11-01 06:06:27 +01:00

Takeoff

Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint

2022-10-17 16:18:00 -04:00

CMakeLists.txt

lib/geo: move from ecl

2021-07-15 10:38:24 -04:00

Kconfig

Add support for protected build in drivers, systemcmds and modules Kconfig

2022-02-18 07:58:58 +01:00

mc_pos_control_params.c

MC LandDetector: remove dependency on MPC_LAND_SPEED and MPC_LAND_CRWL

2022-11-01 18:35:54 +01:00

MulticopterPositionControl.cpp

MulticopterPositionControl: fix amending existing idle setpoint from before takeoff

2022-11-09 17:13:22 +01:00

MulticopterPositionControl.hpp

Fix confusion between trajectory_setpoint and vehicle_local_postion_setpoint

2022-10-17 16:18:00 -04:00