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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-13 00:48:27 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-13 00:48:27 +0100 |
| commit | 59ec2401b6f8e6714d515d3d0f1cf2e0ee14b8bc (patch) | |
| tree | 143d3d2cb44380628391adf49e4740d07d2af4a5 /src/modules | |
| parent | 4bb07514c86d020bc2b16058e75de3074f89aa4b (diff) | |
| download | px4-firmware-59ec2401b6f8e6714d515d3d0f1cf2e0ee14b8bc.tar.gz px4-firmware-59ec2401b6f8e6714d515d3d0f1cf2e0ee14b8bc.tar.bz2 px4-firmware-59ec2401b6f8e6714d515d3d0f1cf2e0ee14b8bc.zip | |
fw pos control: better check for control mode
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 9 |
1 files changed, 4 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 e7c95cc86..1bb27168e 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 @@ -909,10 +909,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float throttle_max = 1.0f; /* AUTONOMOUS FLIGHT */ - - // XXX this should only execute if auto AND safety off (actuators active), - // else integrators should be constantly reset. - if (pos_sp_triplet.current.valid) { + if (_control_mode.flag_control_auto_enabled && + pos_sp_triplet.current.valid) { if (!_was_pos_control_mode) { /* reset integrators */ @@ -1248,7 +1246,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _att_sp.roll_reset_integral = true; } - } else if (_control_mode.flag_control_velocity_enabled) { + } else if (_control_mode.flag_control_velocity_enabled && + _control_mode.flag_control_altitude_enabled) { const float deadBand = (60.0f/1000.0f); const float factor = 1.0f - deadBand; if (!_was_velocity_control_mode) { |