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FlightTasks: do not adjust tilt limit of the position control

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Adjusting the tilt limit can lead to diverging position control
and should only be used by setting a sanity limit for the controller
and not to adjust during the descent phase of a Land or RTL.
Otherwise it leads to flyaways in important failsafe modes when
there's stronger disturbance e.g. wind.
This commit is contained in:
Matthias Grob
2020-04-19 13:01:57 +02:00
committed by Lorenz Meier
parent 95779ea670
commit 809b45eac8
6 changed files with 4 additions and 13 deletions
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2
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
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@@ -60,8 +60,6 @@ bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_s
_velocity_setpoint(2) = 0.f;
_setDefaultConstraints();
_constraints.tilt = math::radians(_param_mpc_man_tilt_max.get());
_updateConstraintsFromEstimator();
_max_speed_up = _constraints.speed_up;