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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-01 09:38:14 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-01 09:38:14 +0200 |
| commit | db925db460fc24ae4d02b87e6fc9cebf2b100b7a (patch) | |
| tree | 6efab23379d92c69007b38898e5570c4f1822d71 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 7716a1816db9dc469f4c741442d73721469693a6 (diff) | |
| download | px4-firmware-db925db460fc24ae4d02b87e6fc9cebf2b100b7a.tar.gz px4-firmware-db925db460fc24ae4d02b87e6fc9cebf2b100b7a.tar.bz2 px4-firmware-db925db460fc24ae4d02b87e6fc9cebf2b100b7a.zip | |
mtecs: do not calculate derivative in first iteration
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 | 1 |
1 files changed, 1 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 7fd7ed07f..acd623c30 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 @@ -861,6 +861,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* reset integrators */ if (_mTecs.getEnabled()) { _mTecs.resetIntegrators(); + _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); } } |