From 471c3e083663ec69e75a63704eafa76604dba7b0 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 6 Mar 2024 08:25:21 +0100 Subject: [PATCH] vtol_type: enable pusher assist also in Descend mode Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/vtol_type.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 45f655101d83..aa867102876a 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -494,10 +494,9 @@ float VtolType::pusher_assist() break; } - // if the thrust scale param is zero or the drone is not in some position or altitude control mode, + // if the thrust scale param is zero or the drone is not in a climb rate controlled mode, // then the pusher-for-pitch strategy is disabled and we can return - if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_position_enabled - || _v_control_mode->flag_control_altitude_enabled)) { + if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_climb_rate_enabled)) { return 0.0f; }