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vtol_type: reset quadchute filter states if TECS is not running

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2020-08-11 13:30:24 +03:00
committed by Silvan Fuhrer
parent faeaa411d0
commit 01535a726a
1 changed files with 6 additions and 0 deletions
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6
src/modules/vtol_att_control/vtol_type.cpp
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@@ -222,6 +222,12 @@ bool VtolType::can_transition_on_ground()
void VtolType::check_quadchute_condition()
{
if (!_tecs_running) {
// reset the filtered height rate and heigh rate setpoint if TECS is not running
_ra_hrate = 0.0f;
_ra_hrate_sp = 0.0f;
}
if (_v_control_mode->flag_armed && !_land_detected->landed) {
Eulerf euler = Quatf(_v_att->q);