From 38ecec86f79ffc6e7860cd8c069c3ce4ada54228 Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 10 Feb 2016 15:40:18 +0100 Subject: [PATCH] mc pos control: do not run takeoff code when disarmed --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index db5505ba43..09dabe01ea 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1365,9 +1365,10 @@ MulticopterPositionControl::task_main() _vel_sp(2) = _params.land_speed; } - /* velocity handling during takeoff */ + /* special thrust setpoint generation for takeoff from ground */ if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid - && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) { + && _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF + && _control_mode.flag_armed) { // check if we are not already in air. // if yes then we don't need a jumped takeoff anymore