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fw pos control: set integrator reset flags in attitude setpoint topic, set them to true when launchdetection is running (while waiting for launch)

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Thomas Gubler
2014-06-24 17:42:21 +02:00
parent 9a911f7388
commit c6cdcfc263
1 changed files with 9 additions and 0 deletions
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9
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -841,6 +841,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_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;
@@ -1028,6 +1032,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// 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;
}
launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
if (launchDetector.getLaunchDetected()) {