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| author | Julian Oes <julian@oes.ch> | 2014-06-27 14:39:36 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-06-27 14:39:36 +0200 |
| commit | cc8f7f4c97de923f60f9469aa2847e6e1474d52d (patch) | |
| tree | 4a5895a4421fbd66a2159de08c3ad70506b55051 /src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | |
| parent | 3aab37e0e04ce98ddacd99e238e626ab5c3d4445 (diff) | |
| parent | f3a77705a701a92ae510e18280136b3b7f204b3e (diff) | |
| download | px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.tar.gz px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.tar.bz2 px4-firmware-cc8f7f4c97de923f60f9469aa2847e6e1474d52d.zip | |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/modules/commander/commander.cpp
src/modules/commander/state_machine_helper.h
src/modules/mavlink/mavlink_messages.cpp
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 | 14 |
1 files changed, 12 insertions, 2 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 1bb955173..49d812e7e 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 @@ -872,6 +872,10 @@ 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; @@ -1061,15 +1065,21 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { /* Perform launch detection */ -// warnx("Launch detection running"); if(!launch_detected) { //do not do further checks once a launch was detected if (launchDetector.launchDetectionEnabled()) { static hrt_abstime last_sent = 0; if(hrt_absolute_time() - last_sent > 4e6) { -// 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; + + /* Detect launch */ launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { launch_detected = true; |