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

Revert "mc_att_control: fix having high thrust when disarmed" 

This reverts commit 0c81a19decde6ddfe4ce87c34c762ea15fd3ab09.
This commit is contained in:
Matthias Grob 2019-05-21 13:21:25 +01:00 committed by Lorenz Meier
parent fac3e1c3f9
commit 953e5e5019
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/mc_att_control/mc_att_control_main.cpp
View File

@ -500,10 +500,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
q_sp.copyTo(attitude_setpoint.q_d);
attitude_setpoint.q_d_valid = true;
// hotfix: make sure to leave a zero thrust setpoint for position controller to take over after initialization in manual mode
// without this the actuator_controls thrust stays like it was set here when switching to a position controlled mode and the
// land detector will immediately detect takeoff when arming
attitude_setpoint.thrust_body[2] = _v_control_mode.flag_armed ? -throttle_curve(_manual_control_sp.z) : 0.0f;
attitude_setpoint.thrust_body[2] = -throttle_curve(_manual_control_sp.z);
attitude_setpoint.timestamp = hrt_absolute_time();
if (_attitude_sp_id != nullptr) {
orb_publish_auto(_attitude_sp_id, &_vehicle_attitude_setpoint_pub, &attitude_setpoint, nullptr, ORB_PRIO_DEFAULT);