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MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only

This commit is contained in:
Matthias Grob 2021-12-13 15:51:06 +01:00
parent d9a2fe5226
commit 1211a457d7
1 changed files with 5 additions and 3 deletions
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8
src/modules/mc_pos_control/MulticopterPositionControl.cpp
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@ -455,13 +455,15 @@ void MulticopterPositionControl::Run()
const bool flying = (_takeoff.getTakeoffState() >= TakeoffState::flight);
const bool flying_but_ground_contact = (flying && _vehicle_land_detected.ground_contact);
// make sure takeoff ramp is not amended by acceleration feed-forward
if (!flying) {
_setpoint.acceleration[2] = NAN;
// hover_thrust maybe reset on takeoff
_control.setHoverThrust(_param_mpc_thr_hover.get());
}
// make sure takeoff ramp is not amended by acceleration feed-forward
if (_takeoff.getTakeoffState() == TakeoffState::rampup) {
_setpoint.acceleration[2] = NAN;
}
if (not_taken_off || flying_but_ground_contact) {
// we are not flying yet and need to avoid any corrections
reset_setpoint_to_nan(_setpoint);