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mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint

This commit is contained in:
Dennis Mannhart 2017-06-06 16:52:26 +02:00 committed by Lorenz Meier
parent 03d86054a4
commit 4692ccf287
1 changed files with 2 additions and 1 deletions
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3
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -1828,7 +1828,8 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
thrust_sp = _R * thrust_sp_body;
}
if (_vehicle_land_detected.maybe_landed) {
if (_vehicle_land_detected.maybe_landed
&& !(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
/* we set thrust to zero
* this will help to decide if we are actually landed or not
*/