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

landdetector + mc_pos_control cherry-pick fix

This commit is contained in:
Dennis Mannhart 2017-07-10 10:22:23 +02:00 committed by Lorenz Meier
parent 69ecfef8a4
commit e6f7af2dcf
2 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/land_detector/MulticopterLandDetector.cpp
View File

@ -224,7 +224,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if (manual_control_idle_or_auto && _has_low_thrust() && (!horizontalMovement || !_has_position_lock()) &&
if (manual_control_idle_or_auto && (_has_low_thrust() || hit_ground) && (!horizontalMovement || !_has_position_lock())
&&
(!verticalMovement || !_has_altitude_lock())) {
return true;
}

2
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -1807,7 +1807,7 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
thrust_sp(1) = 0.0f;
}
if (!in_auto_takeoff) {
if (!in_auto_takeoff()) {
if (_vehicle_land_detected.ground_contact) {
/* if still or already on ground command zero xy thrust_sp in body
* frame to consider uneven ground */