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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-24 17:42:21 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-24 17:42:21 +0200 |
| commit | c6cdcfc2638f8d994b3716d8739614c5377c4962 (patch) | |
| tree | 2d0802df529f970582802729bb4e13879df2d67a /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 9a911f7388e1a48630469fd2e875f00a119c829a (diff) | |
| download | px4-firmware-c6cdcfc2638f8d994b3716d8739614c5377c4962.tar.gz px4-firmware-c6cdcfc2638f8d994b3716d8739614c5377c4962.tar.bz2 px4-firmware-c6cdcfc2638f8d994b3716d8739614c5377c4962.zip | |
fw pos control: set integrator reset flags in attitude setpoint topic, set them to true when launchdetection is running (while waiting for launch)
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 116d3cc63..518116fa1 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -841,6 +841,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* current waypoint (the one currently heading for) */ math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon); + /* Initialize attitude controller integrator reset flags to 0 */ + _att_sp.roll_reset_integral = false; + _att_sp.pitch_reset_integral = false; + _att_sp.yaw_reset_integral = false; /* previous waypoint */ math::Vector<2> prev_wp; @@ -1028,6 +1032,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // warnx("Launch detection running"); mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); last_sent = hrt_absolute_time(); + /* Tell the attitude controller to stop integrating while we are + * waiting for the launch */ + _att_sp.roll_reset_integral = true; + _att_sp.pitch_reset_integral = true; + _att_sp.yaw_reset_integral = true; } launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { |