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Copter: takeoff relaxes wpnav and pos control during spool up

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This commit is contained in:
Randy Mackay 2020-09-30 20:05:37 +09:00
parent 83e1fe94d1
commit ed7580e83c
1 changed files with 7 additions and 0 deletions
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7
ArduCopter/takeoff.cpp
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@ -164,7 +164,14 @@ void Mode::auto_takeoff_run()
if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
set_land_complete(false);
} else {
// motors have not completed spool up yet so relax navigation and position controllers
wp_nav->shift_wp_origin_to_current_pos();
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
pos_control->update_z_controller();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_rate_controller_I_terms();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
return;
}
// check if we are not navigating because of low altitude