mc_pos_control: ignore maybe_landed and ground_contact for takeoff setpoint

8 years ago · 4692ccf287
1 changed files with 2 additions and 1 deletions
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@ -1828,7 +1828,8 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
				@@ -1828,7 +1828,8 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
 		thrust_sp = _R * thrust_sp_body;
 	}

-	if (_vehicle_land_detected.maybe_landed) {
+	if (_vehicle_land_detected.maybe_landed
+	    && !(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
 		/* we set thrust to zero
 		 * this will help to decide if we are actually landed or not
 		 */