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Merge pull request #3519 from PX4/mc_pos_quick_fix

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quick fix:
This commit is contained in:
Roman Bapst
2016-01-15 23:29:15 +01:00
parent 415e42f5de be1db2ced5
commit 0db264bc79
1 changed files with 4 additions and 0 deletions
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4
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1494,6 +1494,9 @@ MulticopterPositionControl::task_main()
_landing_started = hrt_absolute_time();
}
#if 0
// TODO quick fix: remove this since in combination with the non-working fall detection
// it can lead to the copter falling out of the sky
/* don't let it throttle up again during landing */
if (thrust_sp(2) < 0.0f && thrust_abs < _landing_thrust
/* fix landing thrust after a certain time when velocity change is minimal */
@@ -1502,6 +1505,7 @@ MulticopterPositionControl::task_main()
&& hrt_elapsed_time(&_landing_started) > 15e5) {
_landing_thrust = thrust_abs;
}
#endif
/* assume ground, reduce thrust */
if (hrt_elapsed_time(&_landing_started) > 15e5