From be1db2ced51d837dc062aa9d509955c0aa41bfab Mon Sep 17 00:00:00 2001 From: tumbili Date: Fri, 15 Jan 2016 15:52:12 +0100 Subject: [PATCH] quick fix: Remove throttle non-increase condition for landing since this has lead to quads falling out of the sky. --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) 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 a604b4c263..3bc8f9797e 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1494,6 +1494,9 @@ MulticopterPositionControl::task_main() _landing_started = hrt_absolute_time(); } + #if 0 + // TODO quick fix: remove this since in combination with the non-working fall detection + // it can lead to the copter falling out of the sky /* don't let it throttle up again during landing */ if (thrust_sp(2) < 0.0f && thrust_abs < _landing_thrust /* fix landing thrust after a certain time when velocity change is minimal */ @@ -1502,6 +1505,7 @@ MulticopterPositionControl::task_main() && hrt_elapsed_time(&_landing_started) > 15e5) { _landing_thrust = thrust_abs; } + #endif /* assume ground, reduce thrust */ if (hrt_elapsed_time(&_landing_started) > 15e5