From c7725d74b4d4234a719bca0f16322758aa8ac420 Mon Sep 17 00:00:00 2001 From: Juyong Shin Date: Mon, 22 Apr 2024 13:57:57 +0900 Subject: [PATCH] fw offboard control mode: altitude control enabled (#23041) --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 610ddad03a5f..35a3c32c7df8 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -1404,6 +1404,9 @@ FixedwingPositionControl::control_auto_path(const float control_interval, const tecs_fw_thr_max, _param_sinkrate_target.get(), _param_climbrate_target.get()); + + _att_sp.thrust_body[0] = min(get_tecs_thrust(), tecs_fw_thr_max); + _att_sp.pitch_body = get_tecs_pitch(); } void