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Plane: do not set desired vel/accel on takeoff 

This effectively bypasses the input shaping.

Currently this creates a step change in the position controller.
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magate 2024-03-20 15:23:20 -07:00 committed by Andrew Tridgell
parent c3b6127b1b
commit d5bd30bce0
1 changed files with 0 additions and 2 deletions
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2
ArduPlane/quadplane.cpp
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@ -3099,8 +3099,6 @@ void QuadPlane::takeoff_controller(void)
if (no_navigation) { if (no_navigation) {
pos_control->relax_velocity_controller_xy(); pos_control->relax_velocity_controller_xy();
} else { } else {
pos_control->set_accel_desired_xy_cmss(zero);
pos_control->set_vel_desired_xy_cms(vel);
pos_control->input_vel_accel_xy(vel, zero); pos_control->input_vel_accel_xy(vel, zero);
// nav roll and pitch are controller by position controller // nav roll and pitch are controller by position controller