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

VTOL Standard - Disable pusher-for-pitch strategy in manual control

This commit is contained in:
bresch 2017-07-06 16:54:22 +02:00 committed by Lorenz Meier
parent 1cff86025e
commit 81c46b6f92
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/vtol_att_control/standard.cpp
View File

@ -356,8 +356,10 @@ void Standard::update_mc_state()
_flag_enable_mc_motors = false;
}
// if the thrust scale param is zero then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON) {
// if the thrust scale param is zero or the drone is on manual mode,
// then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON ||
!_v_control_mode->flag_control_position_enabled) {
return;
}