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| author | Julian Oes <julian@oes.ch> | 2013-10-11 14:05:11 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-11 14:05:11 +0200 |
| commit | 2d23d5fd4ec3a00ae18c63304a3b1b3905d7de66 (patch) | |
| tree | dfe21bf4ddd3b10e2e92cd3d6be206de5a445616 /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | 326f241185f45d9e2d4377e8096a8a2f05f65b0d (diff) | |
| parent | 1306c9de7b946783ff1143bb42a33734e9380e2c (diff) | |
| download | px4-firmware-2d23d5fd4ec3a00ae18c63304a3b1b3905d7de66.tar.gz px4-firmware-2d23d5fd4ec3a00ae18c63304a3b1b3905d7de66.tar.bz2 px4-firmware-2d23d5fd4ec3a00ae18c63304a3b1b3905d7de66.zip | |
Merge remote-tracking branch 'px4/master' into pwm_ioctls
Conflicts:
src/drivers/px4io/px4io.cpp
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 6b98003fd..ae9aaa2da 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -593,6 +593,10 @@ FixedwingAttitudeControl::task_main() pitch_sp = _att_sp.pitch_body; throttle_sp = _att_sp.thrust; + /* reset integrals where needed */ + if (_att_sp.roll_reset_integral) + _roll_ctrl.reset_integrator(); + } else { /* * Scale down roll and pitch as the setpoints are radians |