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Enable acceleration setpoint based takeoff #15707

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Enable acceleration setpoint based takeoff #15707

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e181c70
Trigger takeoff with acceleration setpoints
Jaeyoung-Lim Sep 8, 2020
96a124b
Handle offboard mode with acceleration setpoints
Jaeyoung-Lim Nov 27, 2020
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9 changes: 8 additions & 1 deletion src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -203,5 +203,12 @@ bool FlightTask::_checkTakeoff()
velocity_triggered_takeoff = _velocity_setpoint(2) < -0.3f;
}

return position_triggered_takeoff || velocity_triggered_takeoff;
// upwards acceleration setpoint
bool acceleration_triggered_takeoff = false;

if (PX4_ISFINITE(_acceleration_setpoint(2))) {
acceleration_triggered_takeoff = _acceleration_setpoint(2) < -0.3f;
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Can you document this magic number?

}

return position_triggered_takeoff || velocity_triggered_takeoff || acceleration_triggered_takeoff;
}
2 changes: 1 addition & 1 deletion src/modules/commander/Commander.cpp
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Expand Up @@ -3322,7 +3322,7 @@ Commander::update_control_mode()
!control_mode.flag_control_acceleration_enabled;

control_mode.flag_control_climb_rate_enabled = (!offboard_control_mode.ignore_velocity ||
!offboard_control_mode.ignore_position) && !control_mode.flag_control_acceleration_enabled;
!offboard_control_mode.ignore_position);

control_mode.flag_control_position_enabled = !offboard_control_mode.ignore_position && !status.in_transition_mode &&
!control_mode.flag_control_acceleration_enabled;
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