diff options
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 1 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 6 | ||||
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 4 |
3 files changed, 11 insertions, 0 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 7fd7ed07f..acd623c30 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 @@ -861,6 +861,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* reset integrators */ if (_mTecs.getEnabled()) { _mTecs.resetIntegrators(); + _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); } } diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 039fc34a8..a5e680f02 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -261,6 +261,12 @@ void mTecs::resetIntegrators() _firstIterationAfterReset = true; } +void mTecs::resetDerivatives(float airspeed) +{ + _airspeedDerivative.setU(airspeed); +} + + void mTecs::updateTimeMeasurement() { if (!_dtCalculated) { diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 4643145c1..ddd6583e8 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -139,6 +139,10 @@ public: */ void resetIntegrators(); + /* + * Reset all derivative calculations + */ + void resetDerivatives(float airspeed); /* Accessors */ bool getEnabled() {return _mTecsEnabled.get() > 0;} |