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VTOL Standard - Disable pusher-for-pitch strategy in manual control

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bresch
2017-07-06 16:54:22 +02:00
committed by Lorenz Meier
parent 1cff86025e
commit 81c46b6f92
1 changed files with 4 additions and 2 deletions
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6
src/modules/vtol_att_control/standard.cpp
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@@ -356,8 +356,10 @@ void Standard::update_mc_state()
_flag_enable_mc_motors = false;
}
// if the thrust scale param is zero then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON) {
// if the thrust scale param is zero or the drone is on manual mode,
// then the pusher-for-pitch strategy is disabled and we can return
if (_params_standard.forward_thrust_scale < FLT_EPSILON ||
!_v_control_mode->flag_control_position_enabled) {
return;
}