Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 18:27:05 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

mc_pos_control: shut down vertical thrust with ground contact

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -16
View File
@@ -1105,23 +1105,15 @@ MulticopterPositionControl::update_smooth_takeoff(const float &z_sp, const float
void void
MulticopterPositionControl::limit_thrust_during_landing(vehicle_local_position_setpoint_s &setpoint) MulticopterPositionControl::limit_thrust_during_landing(vehicle_local_position_setpoint_s &setpoint)
{ {
if (_vehicle_land_detected.ground_contact) { if (_vehicle_land_detected.ground_contact
// Set thrust in xy to zero || _vehicle_land_detected.maybe_landed) {
setpoint.thrust[0] = 0.0f; // we set thrust to zero, this will help to decide if we are actually landed or not
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
setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = 0.0f; setpoint.thrust[0] = setpoint.thrust[1] = setpoint.thrust[2] = 0.0f;
_control.resetIntegralXY(); //reuqired to prevent integrator from increasing // set yaw-sp to current yaw to avoid any corrections
_control.resetIntegralZ(); //reuqired to prevent integrator from increasing setpoint.yaw = _states.yaw;
// prevent any integrator windup
_control.resetIntegralXY();
_control.resetIntegralZ();
} }
} }