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FixedwingPositionControl remove engine failure thrust sp

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- this is already done in fw_att_control
This commit is contained in:
Daniel Agar
2017-04-30 21:55:31 -04:00
parent 9511dfa577
commit 35864841ba
1 changed files with 4 additions and 8 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -8
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@@ -1375,14 +1375,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
}
/* Copy thrust output for publication */
if (_vehicle_status.engine_failure || _vehicle_status.engine_failure_cmd) {
/* Set thrust to 0 to minimize damage */
_att_sp.thrust = 0.0f;
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
_launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS &&
!_runway_takeoff.runwayTakeoffEnabled()) {
if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
_launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS &&
!_runway_takeoff.runwayTakeoffEnabled()) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons.