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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-28 16:52:27 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-06-28 16:52:27 +0200 |
| commit | 7b15a424f06074c37ade650c5fd2661495b06e74 (patch) | |
| tree | bff13be26053fa4b9d7ae2afd60cae9d325774e7 /src/modules/fw_pos_control_l1 | |
| parent | 09fd154723c0483a5fa2b39555b6449e0b4f2190 (diff) | |
| parent | cd2867925797b291d6bc1f2a67b53d2e34067bba (diff) | |
| download | px4-firmware-7b15a424f06074c37ade650c5fd2661495b06e74.tar.gz px4-firmware-7b15a424f06074c37ade650c5fd2661495b06e74.tar.bz2 px4-firmware-7b15a424f06074c37ade650c5fd2661495b06e74.zip | |
Merge remote-tracking branch 'upstream/master' into mtecs
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -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 f2c5db806..abab74c08 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 @@ -847,6 +847,10 @@ 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; @@ -1036,15 +1040,21 @@ 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; |