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Disable pusher assist for quadchute failsafe

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This commit is contained in:
sanderux
2017-08-13 17:44:05 +02:00
committed by Lorenz Meier
parent 66bb7adc4c
commit 33efd89ef8
1 changed files with 7 additions and 0 deletions
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src/modules/vtol_att_control/standard.cpp
+7
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@@ -401,6 +401,13 @@ void Standard::update_mc_state()
return; return;
} }
// Do not engage pusher assist during a failsafe event
// There could be a problem with the fixed wing drive
if (_attc->get_vtol_vehicle_status()->vtol_transition_failsafe) {
_pusher_throttle = 0.0f;
return;
}
matrix::Dcmf R(matrix::Quatf(_v_att->q)); matrix::Dcmf R(matrix::Quatf(_v_att->q));
matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d)); matrix::Dcmf R_sp(matrix::Quatf(_v_att_sp->q_d));
matrix::Eulerf euler(R); matrix::Eulerf euler(R);