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mc_pos_control: fix takeoff bug

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This resolves a bug where a takeoff would go sideways instead of
straight up. What happened was that the position setpoint got shifted
around even though there was actually no real setpoint set but only a
setpoint of type IDLE. This then lead to a position setpoint far away
from the takeoff point and therefore scary takeoffs.

This fix prevents the part of the position controller which
moves/integrates the position setpoint from running in the case of an
idle setpoint.

This bug could be reproduced by switching the vehicle to mission mode
without a valid mission, then switch to hold mode, and then send the arm
and takeoff command.
This commit is contained in:
Julian Oes
2016-12-02 10:54:25 +01:00
committed by Lorenz Meier
parent b982dca45a
commit e416a8cb83
1 changed files with 3 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -1
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@@ -1144,7 +1144,9 @@ void MulticopterPositionControl::control_auto(float dt)
} }
} }
if (current_setpoint_valid) { if (current_setpoint_valid &&
(_pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_IDLE)) {
/* scaled space: 1 == position error resulting max allowed speed */ /* scaled space: 1 == position error resulting max allowed speed */
math::Vector<3> cruising_speed = _params.vel_cruise; math::Vector<3> cruising_speed = _params.vel_cruise;