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mc_pos_control: fix updating takeoff state when no flight task is running

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Without always updating the takeoff state it will not get skipped when
the takeoff happened manually and when you switch from manual to position
mode the drone goes to idle and falls.
This commit is contained in:
Matthias Grob
2019-05-16 12:49:25 +01:00
committed by Lorenz Meier
parent a9f0981aaf
commit 856d129bf8
1 changed files with 4 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -3
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@@ -581,10 +581,11 @@ MulticopterPositionControl::run()
_wv_controller->update(matrix::Quatf(_att_sp.q_d), _states.yaw);
}
// takeoff delay for motors to reach idle speed
_takeoff._spoolup_time_hysteresis.set_state_and_update(_control_mode.flag_armed);
// an update is necessary here because otherwise the takeoff state doesn't get skiped with non-altitude-controlled modes
_takeoff.updateTakeoffState(_control_mode.flag_armed, _vehicle_land_detected.landed, false, -1.f, !_control_mode.flag_control_climb_rate_enabled);
if (_takeoff._spoolup_time_hysteresis.get_state()) {
// takeoff delay for motors to reach idle speed
if (_takeoff.getTakeoffState() >= TakeoffState::ready_for_takeoff) {
// when vehicle is ready switch to the required flighttask
start_flight_task();