MC_Pos_Control: takeoff bug constrain hover_thrust_estimate

[hendjoshsr71]

This is the version of PR that points to main instead of 1.13

[junwoo091400]

@hendjoshsr71 Could you do make format and commit results to fix the format checker CI that is failing?

[junwoo091400]

Tailsitter SITL is falining again: https://github.com/PX4/PX4-Autopilot/actions/runs/4544468878/jobs/8011289156?pr=21380

However, the previous commit in the main branch didn't have a failure. Therefore it could be an introduced behavior from this PR? The log shown however is more related to airspeed selector / battery 🤔

Log: https://logs.px4.io/plot_app?log=5f0c0ee0-6739-4302-b48b-ddb7dae3eb22

Seems like the failsafe triggered disarm 🤔

[mrpollo]

@junwoo091400 I restarted the failed test just to verify it wasn't a fluke

[hendjoshsr71]

@hendjoshsr71 Could you do make format and commit results to fix the format checker CI that is failing?

Done! Though I had to fix up how the auto formatter "fixed" things. It looked pretty weird.

[bresch]

I'm not a big fan of merging 2 functions in one and split it internally using a boolean parameter. Especially when reading the function call, I think it would be nicer to have something like setHoverThrustAndUpdateIntegral() than setHoverThrust(true).

[hendjoshsr71]

I'm not a big fan of merging 2 functions in one and split it internally using a boolean parameter. Especially when reading the function call, I think it would be nicer to have something like setHoverThrustAndUpdateIntegral() than setHoverThrust(true).

Agree. I was trying to acheive what @dagar wanted in terms of only one path for these constraints.

If either you or Daniel would like to push my repo your preference to achieve that goal feel free. That would probably be easier than me going back and forth.?

[DronecodeBot]

This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-19-2023/31700/4

[bresch]

replaced by #21512 . Thanks @hendjoshsr71 for the fix. I rebased, made some minor changes and did another PR with it