From c0dab475547089ae997d6d0a91cf511808d56855 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Fri, 8 Feb 2019 16:32:18 +0100
Subject: [PATCH] mc_pos_control - reduce smooth_velocity_takeoff default
threshold, set initial takeoff speed to 0 and remove useless else
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 +----
1 file changed, 1 insertion(+), 4 deletions(-)
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 01c12c30d1..40cdc24b05 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1051,12 +1051,9 @@ MulticopterPositionControl::check_for_smooth_takeoff(const float &z_sp, const fl
// There is a position setpoint above current position or velocity setpoint larger than
// takeoff speed. Enable smooth takeoff.
_in_smooth_takeoff = true;
- _takeoff_speed = -0.5f;
+ _takeoff_speed = 0.f;
_takeoff_reference_z = _states.position(2);
- } else {
- // Default
- _in_smooth_takeoff = false;
}
}
}
--
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