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mc pos control:

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do not run takeoff code when disarmed
This commit is contained in:
Roman
2016-02-10 15:40:18 +01:00
committed by Lorenz Meier
parent ff43c1ab6a
commit 38ecec86f7
1 changed files with 3 additions and 2 deletions
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5
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1365,9 +1365,10 @@ MulticopterPositionControl::task_main()
_vel_sp(2) = _params.land_speed; _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 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. // check if we are not already in air.
// if yes then we don't need a jumped takeoff anymore // if yes then we don't need a jumped takeoff anymore