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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-24 20:52:24 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-24 20:52:24 +0200 |
| commit | 819812e11271d7b78f4af2d5bbb7ac6e4be9e494 (patch) | |
| tree | 7ddb8aa41dcfed411990c58ae1c4515e7809fe6e /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 9904ed878e6a1b006c8937c8c2060494ca61fb1b (diff) | |
| download | px4-firmware-819812e11271d7b78f4af2d5bbb7ac6e4be9e494.tar.gz px4-firmware-819812e11271d7b78f4af2d5bbb7ac6e4be9e494.tar.bz2 px4-firmware-819812e11271d7b78f4af2d5bbb7ac6e4be9e494.zip | |
fw pos ctrl: move setting of attitude integral reset flag
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 | 13 |
1 files changed, 8 insertions, 5 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 518116fa1..fe5847682 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 @@ -1032,12 +1032,15 @@ 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; } + + /* 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; + + /* Detect launch */ launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { launch_detected = true; |