mc_att_control: output zero throttle in manual mode when landed #12542
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- MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when the vehicle is in air. This is useful to retain some control around roll and pitch axis if airmode is not enabled and the user demands zero throttle. However, when the vehicle is landed there is not need to keep the throttle at a higher value than zero. Signed-off-by: RomanBapst <bapstroman@gmail.com>
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This is also how the system behaved in PX4 1.8. |
bkueng
approved these changes
Jul 23, 2019
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@Stifael could you review this as well? |
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wouldn't know what negative impact this PR possibly could have |
Stifael
approved these changes
Jul 23, 2019
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MPC_MANTHR_MIN is used as minimum throttle in attitude control mode when
the vehicle is in air. This is useful to retain some control around roll and
pitch axis if airmode is not enabled and the user demands zero throttle.
However, when the vehicle is landed there is not need to keep the throttle
at a higher value than zero.
SITL testing:
Log:
https://logs.px4.io/plot_app?log=d6e6fc13-9e50-44aa-888a-47a9f66801d2