FW Position Control: disable underspeed handling during auto takeoff

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Aug 9, 2024 · 70010df · 70010df
1 parent 380d9d7
commit 70010df
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -1524,7 +1524,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 					   _param_fw_thr_min.get(),
 					   _param_fw_thr_max.get(),
 					   _param_sinkrate_target.get(),
-					   _performance_model.getMaximumClimbRate(_air_density));
+					   _performance_model.getMaximumClimbRate(_air_density),
+					   true); // disable underspeed handling
 
 		_tecs.set_equivalent_airspeed_min(_performance_model.getMinimumCalibratedAirspeed()); // reset after TECS calculation
 
@@ -1602,7 +1603,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
 						   _param_fw_thr_min.get(),
 						   max_takeoff_throttle,
 						   _param_sinkrate_target.get(),
-						   _performance_model.getMaximumClimbRate(_air_density));
+						   _performance_model.getMaximumClimbRate(_air_density),
+						   true); // disable underspeed handling
 
 			if (_launchDetector.getLaunchDetected() < launch_detection_status_s::STATE_FLYING) {
 				// explicitly set idle throttle until motors are enabled