dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

MC pos control: Enforce minimum throttle in manual attitude control mode only if not landed, else default to idle throttle

This commit is contained in:
Lorenz Meier 2015-06-27 10:54:09 +02:00
parent 7b05165249
commit 5982eaaf34
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -1414,8 +1414,12 @@ MulticopterPositionControl::task_main()
/* control throttle directly if no climb rate controller is active */ /* control throttle directly if no climb rate controller is active */
if (!_control_mode.flag_control_climb_rate_enabled) { if (!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = math::min(_manual.z, _params.thr_max); _att_sp.thrust = math::min(_manual.z, _params.thr_max);
/* enforce minimum throttle if not landed */
if (!_vehicle_status.condition_landed) {
_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min); _att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
} }
}
/* construct attitude setpoint rotation matrix */ /* construct attitude setpoint rotation matrix */
math::Matrix<3,3> R_sp; math::Matrix<3,3> R_sp;