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mc_pos_control: allow takeoff in offboard mode

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Julian Oes
2016-12-13 14:08:55 +01:00
committed by Lorenz Meier
parent 072ba51064
commit 70fec788d9
1 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -2
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@@ -1825,10 +1825,12 @@ MulticopterPositionControl::control_position(float dt)
float vel_z_change = (_vel(2) - _vel_prev(2)) / dt; float vel_z_change = (_vel(2) - _vel_prev(2)) / dt;
_acc_z_lp = _acc_z_lp * (1.0f - dt * 8.0f) + dt * 8.0f * vel_z_change; _acc_z_lp = _acc_z_lp * (1.0f - dt * 8.0f) + dt * 8.0f * vel_z_change;
// We can only run the control if we're already in-air or have a takeoff setpoint. // We can only run the control if we're already in-air, have a takeoff setpoint,
// or if we're in offboard control.
// Otherwise, we should just bail out // Otherwise, we should just bail out
const bool got_takeoff_setpoint = (_pos_sp_triplet.current.valid && const bool got_takeoff_setpoint = (_pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF); _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) ||
_control_mode.flag_control_offboard_enabled;
if (_vehicle_land_detected.landed && !got_takeoff_setpoint) { if (_vehicle_land_detected.landed && !got_takeoff_setpoint) {
// Keep throttle low while still on ground. // Keep throttle low while still on ground.