From f315be54162c3284742cd2195d9c78c153289e66 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 6 Sep 2014 10:36:51 +0200
Subject: FW: in seatbelt/althold on ground reset integrators

---
 src/modules/fw_att_control/fw_att_control_main.cpp | 33 ++++++++++++++++++++++
 1 file changed, 33 insertions(+)

(limited to 'src')

diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index ad873203e..c60d8d348 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -63,6 +63,7 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_status.h>
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/pid/pid.h>
@@ -124,6 +125,7 @@ private:
 	int 		_params_sub;			/**< notification of parameter updates */
 	int 		_manual_sub;			/**< notification of manual control updates */
 	int		_global_pos_sub;		/**< global position subscription */
+	int		_vehicle_status_sub;		/**< vehicle status subscription */
 
 	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
 	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint point */
@@ -139,6 +141,7 @@ private:
 	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
 	struct actuator_controls_s			_actuators_airframe;	/**< actuator control inputs */
 	struct vehicle_global_position_s		_global_pos;		/**< global position */
+	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
@@ -275,6 +278,11 @@ private:
 	 */
 	void		global_pos_poll();
 
+	/**
+	 * Check for vehicle status updates.
+	 */
+	void		vehicle_status_poll();
+
 	/**
 	 * Shim for calling task_main from task_create.
 	 */
@@ -313,6 +321,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_params_sub(-1),
 	_manual_sub(-1),
 	_global_pos_sub(-1),
+	_vehicle_status_sub(-1),
 
 /* publications */
 	_rate_sp_pub(-1),
@@ -338,6 +347,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	_actuators = {};
 	_actuators_airframe = {};
 	_global_pos = {};
+	_vehicle_status = {};
 
 
 	_parameter_handles.tconst = param_find("FW_ATT_TC");
@@ -560,6 +570,18 @@ FixedwingAttitudeControl::global_pos_poll()
 	}
 }
 
+void
+FixedwingAttitudeControl::vehicle_status_poll()
+{
+	/* check if there is new status information */
+	bool vehicle_status_updated;
+	orb_check(_vehicle_status_sub, &vehicle_status_updated);
+
+	if (vehicle_status_updated) {
+		orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
+	}
+}
+
 void
 FixedwingAttitudeControl::task_main_trampoline(int argc, char *argv[])
 {
@@ -585,6 +607,7 @@ FixedwingAttitudeControl::task_main()
 	_params_sub = orb_subscribe(ORB_ID(parameter_update));
 	_manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
 
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);
@@ -599,6 +622,7 @@ FixedwingAttitudeControl::task_main()
 	vehicle_accel_poll();
 	vehicle_control_mode_poll();
 	vehicle_manual_poll();
+	vehicle_status_poll();
 
 	/* wakeup source(s) */
 	struct pollfd fds[2];
@@ -667,6 +691,8 @@ FixedwingAttitudeControl::task_main()
 
 			global_pos_poll();
 
+			vehicle_status_poll();
+
 			/* lock integrator until control is started */
 			bool lock_integrator;
 
@@ -779,6 +805,13 @@ FixedwingAttitudeControl::task_main()
 					}
 				}
 
+				/* If the aircraft is on ground reset the integrators */
+				if (_vehicle_status.condition_landed) {
+					_roll_ctrl.reset_integrator();
+					_pitch_ctrl.reset_integrator();
+					_yaw_ctrl.reset_integrator();
+				}
+
 				/* Prepare speed_body_u and speed_body_w */
 				float speed_body_u = 0.0f;
 				float speed_body_v = 0.0f;
-- 
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