From c591444c1e2e4124d28a03653c0ccdbcd305c1c2 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 25 Aug 2014 12:48:14 +0200 Subject: fw pos control: set pitch sp correctly while waiting for launch --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) (limited to 'src/modules') 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 da81b0dba..b3a78ad82 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 @@ -1192,7 +1192,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } /* Copy thrust and pitch values from tecs - * making sure again that the correct thrust is used, without depending on library calls */ + * making sure again that the correct thrust is used, + * without depending on library calls */ if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) { _att_sp.thrust = launchDetector.getThrottlePreTakeoff(); @@ -1200,7 +1201,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi else { _att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max); } - _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); + /* During a takeoff waypoint while waiting for launch the pitch sp is set + * already (not by tecs) */ + if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF && + launch_detection_state == LAUNCHDETECTION_RES_NONE)) { + _att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand(); + } if (_control_mode.flag_control_position_enabled) { last_manual = false; -- cgit v1.2.3