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PositionControl: for thrust setpoints only use MPC_MANTHR_MIN for minimum thrust

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This commit is contained in:
Dennis Mannhart
2018-05-24 08:58:08 +02:00
committed by Lorenz Meier
parent f30bf215db
commit 7b13803e2c
1 changed files with 3 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+3 -2
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@@ -83,8 +83,8 @@ void PositionControl::generateThrustYawSetpoint(const float &dt)
if (thr_mag > MPC_THR_MAX.get()) {
_thr_sp = _thr_sp.normalized() * MPC_THR_MAX.get();
} else if (thr_mag < MPC_THR_MIN.get() && thr_mag > FLT_EPSILON) {
_thr_sp = _thr_sp.normalized() * MPC_THR_MIN.get();
} else if (thr_mag < MPC_MANTHR_MIN.get() && thr_mag > FLT_EPSILON) {
_thr_sp = _thr_sp.normalized() * MPC_MANTHR_MIN.get();
}
// Just set the set-points equal to the current vehicle state.
@@ -193,6 +193,7 @@ void PositionControl::_interfaceMapping()
// check failsafe
if (failsafe) {
_skip_controller = true;
// point the thrust upwards
_thr_sp(0) = _thr_sp(1) = 0.0f;
// throttle down such that vehicle goes down with