mc_pos_control: more accurate position setpoint reset, keep attitude setpoint continuous

1 files changed, 6 insertions, 3 deletions

diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index a0837a2dd..0106af80a 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -514,8 +514,11 @@ MulticopterPositionControl::reset_pos_sp()
 {
 	if (_reset_pos_sp) {
 		_reset_pos_sp = false;
-		_pos_sp(0) = _pos(0) + _vel(0) / _params.pos_p(0) * (1.0f - _params.vel_ff(0));
-		_pos_sp(1) = _pos(1) + _vel(1) / _params.pos_p(1) * (1.0f - _params.vel_ff(1));
+		/* shift position setpoint to make attitude setpoint continuous */
+		_pos_sp(0) = _pos(0) + (_vel(0) - _att_sp.R_body[0][2] * _att_sp.thrust / _params.vel_p(0)
+				- _params.vel_ff(0) * _sp_move_rate(0)) / _params.pos_p(0);
+		_pos_sp(1) = _pos(1) + (_vel(1) - _att_sp.R_body[1][2] * _att_sp.thrust / _params.vel_p(1)
+				- _params.vel_ff(1) * _sp_move_rate(1)) / _params.pos_p(1);
 		mavlink_log_info(_mavlink_fd, "[mpc] reset pos sp: %.2f, %.2f", (double)_pos_sp(0), (double)_pos_sp(1));
 	}
 }
@@ -525,7 +528,7 @@ MulticopterPositionControl::reset_alt_sp()
 {
 	if (_reset_alt_sp) {
 		_reset_alt_sp = false;
-		_pos_sp(2) = _pos(2) + _vel(2) / _params.pos_p(2) * (1.0f - _params.vel_ff(2));
+		_pos_sp(2) = _pos(2) + (_vel(2) - _params.vel_ff(2) * _sp_move_rate(2)) / _params.pos_p(2);
 		mavlink_log_info(_mavlink_fd, "[mpc] reset alt sp: %.2f", -(double)_pos_sp(2));
 	}
 }