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MulticopterPositionControl: allow offboard takeoff also when not landed

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This commit is contained in:
Matthias Grob
2021-12-09 20:10:41 +01:00
parent fbc109436f
commit 843c814fb8
1 changed files with 3 additions and 3 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+3 -3
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@@ -419,8 +419,8 @@ void MulticopterPositionControl::Run()
if (_vehicle_control_mode.flag_control_offboard_enabled) {
bool want_takeoff = _vehicle_control_mode.flag_armed && _vehicle_land_detected.landed
&& (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s);
const bool want_takeoff = _vehicle_control_mode.flag_armed
&& (vehicle_local_position.timestamp_sample < _setpoint.timestamp + 1_s);
if (want_takeoff && PX4_ISFINITE(_setpoint.z)
&& (_setpoint.z < states.position(2))) {
@@ -536,7 +536,7 @@ void MulticopterPositionControl::Run()
_vehicle_attitude_setpoint_pub.publish(attitude_setpoint);
} else {
// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes
// an update is necessary here because otherwise the takeoff state doesn't get skipped with non-altitude-controlled modes
_takeoff.updateTakeoffState(_vehicle_control_mode.flag_armed, _vehicle_land_detected.landed, false, 10.f, true,
vehicle_local_position.timestamp_sample);
}