diff options
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index c60d8d348..e770c11a2 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -746,7 +746,14 @@ FixedwingAttitudeControl::task_main() float pitch_sp = _parameters.pitchsp_offset_rad; float throttle_sp = 0.0f; - if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { + /* Read attitude setpoint from uorb if + * - velocity control or position control is enabled (pos controller is running) + * - manual control is disabled (another app may send the setpoint, but it should + * for sure not be set from the remote control values) + */ + if (_vcontrol_mode.flag_control_velocity_enabled || + _vcontrol_mode.flag_control_position_enabled || + !_vcontrol_mode.flag_control_manual_enabled) { /* read in attitude setpoint from attitude setpoint uorb topic */ roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad; @@ -886,8 +893,12 @@ FixedwingAttitudeControl::task_main() } } - /* throttle passed through */ - _actuators.control[3] = (isfinite(throttle_sp)) ? throttle_sp : 0.0f; + /* throttle passed through if it is finite and if no engine failure was + * detected */ + _actuators.control[3] = (isfinite(throttle_sp) && + !(_vehicle_status.engine_failure || + _vehicle_status.engine_failure_cmd)) ? + throttle_sp : 0.0f; if (!isfinite(throttle_sp)) { if (_debug && loop_counter % 10 == 0) { warnx("throttle_sp %.4f", (double)throttle_sp); |