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mc_pos_control: shut down vertical thrust with ground contact

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This commit is contained in:
Matthias Grob
2019-01-08 15:50:59 +01:00
parent 98148aad34
commit d5903853df
1 changed files with 8 additions and 16 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -16
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@@ -1105,23 +1105,15 @@ MulticopterPositionControl::update_smooth_takeoff(const float &z_sp, const float
void
MulticopterPositionControl::limit_thrust_during_landing(vehicle_local_position_setpoint_s &setpoint)
{
if (_vehicle_land_detected.ground_contact) {
// Set thrust in xy to zero
setpoint.thrust[0] = 0.0f;
setpoint.thrust[1] = 0.0f;
_control.resetIntegralXY();
// set yaw-sp to current yaw
setpoint.yaw = _states.yaw;
}
if (_vehicle_land_detected.maybe_landed) {
// set yaw-sp to current yaw
setpoint.yaw = _states.yaw;
// we set thrust to zero
// this will help to decide if we are actually landed or not
if (_vehicle_land_detected.ground_contact
|| _vehicle_land_detected.maybe_landed) {
// we set thrust to zero, this will help to decide if we are actually landed or not
setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = 0.0f;
_control.resetIntegralXY(); //reuqired to prevent integrator from increasing
_control.resetIntegralZ(); //reuqired to prevent integrator from increasing
// set yaw-sp to current yaw to avoid any corrections
setpoint.yaw = _states.yaw;
// prevent any integrator windup
_control.resetIntegralXY();
_control.resetIntegralZ();
}
}