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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
commit | db950f74893a108302a167729a91765269981e7b (patch) | |
tree | cee9d6aab6ef0037c5186f1a15d5432c1d198ced /src/modules/multirotor_pos_control/multirotor_pos_control.c | |
parent | de124619b6f64aafc10f1cdebef986a9e193b74b (diff) | |
download | px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.gz px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.bz2 px4-firmware-db950f74893a108302a167729a91765269981e7b.zip |
position_estimator_inav: "landed" detector implemented, bugfixes
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control.c')
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 0d5a537ea..a6ebeeacb 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -459,6 +459,10 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* publish local position setpoint as projection of global position setpoint */ orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); } + + /* reset setpoints after non-manual modes */ + reset_sp_xy = true; + reset_sp_z = true; } /* run position & altitude controllers, calculate velocity setpoint */ |