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mc_pos_control: set thrust to zero once maybe_landed is reached

This commit is contained in:
Dennis Mannhart 2017-05-24 18:56:29 +02:00 committed by Lorenz Meier
parent 411ceaa6b3
commit 2890af7305
1 changed files with 10 additions and 5 deletions
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15
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -1818,6 +1818,10 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
/* if still or already on ground command zero xy velcoity and zero xy thrust_sp in body frame to consider uneven ground */
if (_vehicle_land_detected.ground_contact && !in_auto_takeoff()) {
/* if still or already on ground command zero xy thrust_sp in body
* frame to consider uneven ground */
/* thrust setpoint in body frame*/
math::Vector<3> thrust_sp_body = _R.transposed() * thrust_sp;
@ -1831,11 +1835,12 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
/* convert back to local frame (NED) */
thrust_sp = _R * thrust_sp_body;
/* set velocity setpoint to zero and reset position */
_vel_sp(0) = 0.0f;
_vel_sp(1) = 0.0f;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
} else if (_vehicle_land_detected.maybe_landed) {
/* we set thrust to zero
* this will help to decide if we are actually landed or not
*/
thrust_sp.zero();
}
if (!_control_mode.flag_control_climb_rate_enabled && !_control_mode.flag_control_acceleration_enabled) {