From 2405baa2c9e59ef0a1cde17f0fcd0222d3b5f33d Mon Sep 17 00:00:00 2001 From: Matthias Grob <maetugr@gmail.com> Date: Thu, 1 Mar 2018 14:08:21 +0100 Subject: [PATCH] FlightTasks: fix manual mode takeoff With the new position control architercture manual mode and potition mode run through the same logic and as a result it had a throttle thershold for smooth takeoff also in manual mode. This is fixed by by ignoring the threshold for any mode which doesn't control the climb rate. --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 7fb9de58b0..837699dec5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -2998,7 +2998,7 @@ bool MulticopterPositionControl::manual_wants_takeoff() const bool has_manual_control_present = _control_mode.flag_control_manual_enabled && _manual.timestamp > 0; // Manual takeoff is triggered if the throttle stick is above 65%. - return (has_manual_control_present && _manual.z > 0.65f); + return (has_manual_control_present && (_manual.z > 0.65f || !_control_mode.flag_control_climb_rate_enabled)); } void -- GitLab