yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: allow takeoff in offboard mode

Browse Source
This commit is contained in:
Julian Oes
2016-12-13 14:08:55 +01:00
committed by Lorenz Meier
parent 072ba51064
commit 70fec788d9
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@@ -1825,10 +1825,12 @@ MulticopterPositionControl::control_position(float dt)
float vel_z_change = (_vel(2) - _vel_prev(2)) / dt;
_acc_z_lp = _acc_z_lp * (1.0f - dt * 8.0f) + dt * 8.0f * vel_z_change;
// We can only run the control if we're already in-air or have a takeoff setpoint.
// We can only run the control if we're already in-air, have a takeoff setpoint,
// or if we're in offboard control.
// Otherwise, we should just bail out
const bool got_takeoff_setpoint = (_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_control_offboard_enabled;
if (_vehicle_land_detected.landed && !got_takeoff_setpoint) {
// Keep throttle low while still on ground.