fixed throttle dip during rampup

Author: Tomas Baca

src/mpc_controller.cpp

@@ -1514,11 +1514,11 @@ void MpcController::MPC(const mrs_msgs::UavState &uav_state, const mrs_msgs::Tra
 
       rampup_last_time_ = ros::Time::now();
 
-      throttle = rampup_throttle_;
-
       ROS_INFO_THROTTLE(0.1, "[%s]: ramping up throttle, %.4f", name_.c_str(), throttle);
     }
 
+    throttle = rampup_throttle_;
+
   } else {
 
     if (desired_thrust_force >= 0) {

src/se3_controller.cpp

@@ -1266,11 +1266,11 @@ void Se3Controller::SE3Controller(const mrs_msgs::UavState& uav_state, const mrs
 
       rampup_last_time_ = ros::Time::now();
 
-      throttle = rampup_throttle_;
-
       ROS_INFO_THROTTLE(0.1, "[Se3Controller]: ramping up throttle, %.4f", throttle);
     }
 
+    throttle = rampup_throttle_;
+
   } else {
 
     if (desired_thrust_force >= 0) {