Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 02:06:27 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

mc_rate_control: don't publish thrust + torque sp if vtol

Browse Source
This commit is contained in:
Beat Küng
2021-11-29 13:52:51 +01:00
committed by Daniel Agar
parent 28e995ede2
commit a81f11acdd
1 changed files with 4 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_rate_control/MulticopterRateControl.cpp
+4 -2
View File
@@ -256,8 +256,10 @@ MulticopterRateControl::Run()
actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _landing_gear; actuators.control[actuator_controls_s::INDEX_LANDING_GEAR] = _landing_gear;
actuators.timestamp_sample = angular_velocity.timestamp_sample; actuators.timestamp_sample = angular_velocity.timestamp_sample;
publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample); if (!_vehicle_status.is_vtol) {
publishThrustSetpoint(angular_velocity.timestamp_sample); publishTorqueSetpoint(att_control, angular_velocity.timestamp_sample);
publishThrustSetpoint(angular_velocity.timestamp_sample);
}
// scale effort by battery status if enabled // scale effort by battery status if enabled
if (_param_mc_bat_scale_en.get()) { if (_param_mc_bat_scale_en.get()) {