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VTOL fw_att don't reset integrators during transition

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This commit is contained in:
Daniel Agar
2017-02-15 16:44:45 -05:00
committed by Lorenz Meier
parent e18fe0a8a8
commit 1b2973f602
1 changed files with 6 additions and 2 deletions
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8
src/modules/fw_att_control/fw_att_control_main.cpp
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@@ -1032,8 +1032,12 @@ FixedwingAttitudeControl::task_main()
_wheel_ctrl.reset_integrator();
}
/* If the aircraft is on ground reset the integrators */
if (_vehicle_land_detected.landed || _vehicle_status.is_rotary_wing) {
/* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL)
*/
if (_vehicle_land_detected.landed
|| (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode)) {
_roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator();
_yaw_ctrl.reset_integrator();