VTOL: apply multicopter takeoff hotfix also for vtol #12250
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Please see reference: #12171
dagar
approved these changes
Jun 12, 2019
|
Backported to v1.9. 0c110a4 |
This was referenced Oct 15, 2019
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Describe problem solved by the proposed pull request
Fixes #12171
Test data / coverage
SITL tested with
make px4_sitl gazebo_standard_vtolBefore:
After:
Describe your preferred solution
As disscussed before the final solution for this problem is the multicopter position controller needs to publish the correct setpoints as soon as a corresponding mode is running even when disarmed. Then there is no setpoint being kept until the next one is published. This hotfix is for the release and we should be able to get rid of it again.
Additional context
This should be cherry-picked to 1.9.1 to fix the bug still existing for VTOLs in the 1.9.0 release.
FYI @sfuhrer