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mc_pos_control: hotfix for takeoff ramp stuck with NAN 

Reported by @dusan19 in #13973.
This commit is contained in:
Matthias Grob 2020-03-10 11:53:19 +01:00 committed by Mathieu Bresciani
parent eb3b0f6b55
commit fb1b6a0ab9
1 changed files with 6 additions and 0 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -587,6 +587,12 @@ MulticopterPositionControl::Run()
// check if all local states are valid and map accordingly // check if all local states are valid and map accordingly
set_vehicle_states(setpoint.vz); set_vehicle_states(setpoint.vz);
// fix to prevent the takeoff ramp to ramp to a too high value or get stuck because of NAN
// TODO: this should get obsolete once the takeoff limiting moves into the flight tasks
if (!PX4_ISFINITE(constraints.speed_up) || (constraints.speed_up > _param_mpc_z_vel_max_up.get())) {
constraints.speed_up = _param_mpc_z_vel_max_up.get();
}
// handle smooth takeoff // handle smooth takeoff
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, constraints.want_takeoff, _takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, constraints.want_takeoff,
constraints.speed_up, !_control_mode.flag_control_climb_rate_enabled, time_stamp_now); constraints.speed_up, !_control_mode.flag_control_climb_rate_enabled, time_stamp_now);