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Remove mode_req_local_alt from Descend mode and handle it in FW position controller #23840

Merged
merged 3 commits into from
Oct 25, 2024
Merged

Remove mode_req_local_alt from Descend mode and handle it in FW position controller #23840

merged 3 commits into from
Oct 25, 2024

Commits on Oct 22, 2024

  1. Commander: remove mode_req_local_alt requirement from DESCEND 

    Signed-off-by: Silvan Fuhrer <[email protected]>
    @sfuhrer
    sfuhrer committed Oct 22, 2024
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Commits on Oct 23, 2024

  1. FW Position Control: handle invalid z or vz measurement in case of na… 

    …v_state DESCEND

Signed-off-by: Silvan Fuhrer <[email protected]>
    @sfuhrer
    sfuhrer committed Oct 23, 2024
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  2. FlightTaskDescned: fix horizontal acceleration overriding vertical one 

    Also descend with more acceleration again to avoid the risk of ascending instead of descending because of a wrong hover thrust estimate.
    @MaEtUgR
    MaEtUgR committed Oct 23, 2024
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