diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 20 |
1 files changed, 12 insertions, 8 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 5b877cd77..0e065211e 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 @@ -232,8 +232,6 @@ private: float throttle_land_max; - float loiter_hold_radius; - float heightrate_p; float speedrate_p; @@ -277,8 +275,6 @@ private: param_t throttle_land_max; - param_t loiter_hold_radius; - param_t heightrate_p; param_t speedrate_p; @@ -441,7 +437,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.l1_period = param_find("FW_L1_PERIOD"); _parameter_handles.l1_damping = param_find("FW_L1_DAMPING"); - _parameter_handles.loiter_hold_radius = param_find("FW_LOITER_R"); _parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN"); _parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM"); @@ -513,7 +508,6 @@ FixedwingPositionControl::parameters_update() /* L1 control parameters */ param_get(_parameter_handles.l1_damping, &(_parameters.l1_damping)); param_get(_parameter_handles.l1_period, &(_parameters.l1_period)); - param_get(_parameter_handles.loiter_hold_radius, &(_parameters.loiter_hold_radius)); param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min)); param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim)); @@ -847,6 +841,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* current waypoint (the one currently heading for) */ math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon); + /* Initialize attitude controller integrator reset flags to 0 */ + _att_sp.roll_reset_integral = false; + _att_sp.pitch_reset_integral = false; + _att_sp.yaw_reset_integral = false; /* previous waypoint */ math::Vector<2> prev_wp; @@ -1026,15 +1024,21 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) { /* Perform launch detection */ -// warnx("Launch detection running"); if(!launch_detected) { //do not do further checks once a launch was detected if (launchDetector.launchDetectionEnabled()) { static hrt_abstime last_sent = 0; if(hrt_absolute_time() - last_sent > 4e6) { -// warnx("Launch detection running"); mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); last_sent = hrt_absolute_time(); } + + /* Tell the attitude controller to stop integrating while we are waiting + * for the launch */ + _att_sp.roll_reset_integral = true; + _att_sp.pitch_reset_integral = true; + _att_sp.yaw_reset_integral = true; + + /* Detect launch */ launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { launch_detected = true; |