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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-19 10:52:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-19 10:52:50 +0200 |
| commit | a4e1a665833f566e2faaa80d221971c679b57d17 (patch) | |
| tree | 62d885e72b25a1bff6e2a150f821a54262840535 /src | |
| parent | a1a921d152c11cef9cec93f5a88777afb1acd4b6 (diff) | |
| download | px4-firmware-a4e1a665833f566e2faaa80d221971c679b57d17.tar.gz px4-firmware-a4e1a665833f566e2faaa80d221971c679b57d17.tar.bz2 px4-firmware-a4e1a665833f566e2faaa80d221971c679b57d17.zip | |
Revert "Remove last reference to mtecs enabled param"
This reverts commit 81f60329e47f8b31d9261c0ef46c09780f9d8194.
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 |
1 files changed, 4 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 5894aeb0b..1fcab2069 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 @@ -756,8 +756,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi if (!_was_pos_control_mode) { /* reset integrators */ - _mTecs.resetIntegrators(); - _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); + if (_mTecs.getEnabled()) { + _mTecs.resetIntegrators(); + _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); + } } _was_pos_control_mode = true; |