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mc_pos_control: prevent takeoff with thrust setpoint

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This was only necessary for stabilized mode before #10805.
The  unit length thrust setpoint will anyways not be available
anymore soon because it gets replaced with the acceleration
setpoint in m/s².
This commit is contained in:
Matthias Grob
2020-03-09 09:44:30 +01:00
parent 1f98ebdb47
commit 3049a3d14d
1 changed files with 3 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -3
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@@ -594,7 +594,7 @@ MulticopterPositionControl::Run()
} }
// limit tilt during takeoff ramupup // limit tilt during takeoff ramupup
if (_takeoff.getTakeoffState() < TakeoffState::flight && !PX4_ISFINITE(setpoint.thrust[2])) { if (_takeoff.getTakeoffState() < TakeoffState::flight) {
constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get()); constraints.tilt = math::radians(_param_mpc_tiltmax_lnd.get());
} }
@@ -608,7 +608,7 @@ MulticopterPositionControl::Run()
constraints.speed_up, !_control_mode.flag_control_climb_rate_enabled, time_stamp_now); constraints.speed_up, !_control_mode.flag_control_climb_rate_enabled, time_stamp_now);
constraints.speed_up = _takeoff.updateRamp(_dt, constraints.speed_up); constraints.speed_up = _takeoff.updateRamp(_dt, constraints.speed_up);
if (_takeoff.getTakeoffState() < TakeoffState::rampup && !PX4_ISFINITE(setpoint.thrust[2])) { if (_takeoff.getTakeoffState() < TakeoffState::rampup) {
// we are not flying yet and need to avoid any corrections // we are not flying yet and need to avoid any corrections
reset_setpoint_to_nan(setpoint); reset_setpoint_to_nan(setpoint);
setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = 0.0f; setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = 0.0f;
@@ -664,7 +664,7 @@ MulticopterPositionControl::Run()
// Part of landing logic: if ground-contact/maybe landed was detected, turn off // Part of landing logic: if ground-contact/maybe landed was detected, turn off
// controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic. // controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic.
// Note: only adust thrust output if there was not thrust-setpoint demand in D-direction. // Note: only adust thrust output if there was not thrust-setpoint demand in D-direction.
if (_takeoff.getTakeoffState() > TakeoffState::rampup && !PX4_ISFINITE(setpoint.thrust[2])) { if (_takeoff.getTakeoffState() > TakeoffState::rampup) {
limit_thrust_during_landing(attitude_setpoint); limit_thrust_during_landing(attitude_setpoint);
} }