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vtol_type: reset accel to pitch integrator

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-04-26 07:53:53 +03:00
committed by Roman Bapst
parent cbf34109d1
commit f6a34e1e80
2 changed files with 6 additions and 0 deletions
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4
src/modules/vtol_att_control/vtol_type.cpp
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@@ -140,6 +140,8 @@ void VtolType::update_mc_state()
_flag_idle_mc = set_idle_mc(); _flag_idle_mc = set_idle_mc();
} }
resetAccelToPitchPitchIntegrator();
VtolType::set_all_motor_state(motor_state::ENABLED); VtolType::set_all_motor_state(motor_state::ENABLED);
// copy virtual attitude setpoint to real attitude setpoint // copy virtual attitude setpoint to real attitude setpoint
@@ -157,6 +159,8 @@ void VtolType::update_fw_state()
_flag_idle_mc = !set_idle_fw(); _flag_idle_mc = !set_idle_fw();
} }
resetAccelToPitchPitchIntegrator();
VtolType::set_alternate_motor_state(motor_state::DISABLED); VtolType::set_alternate_motor_state(motor_state::DISABLED);
// copy virtual attitude setpoint to real attitude setpoint // copy virtual attitude setpoint to real attitude setpoint

2
src/modules/vtol_att_control/vtol_type.h
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@@ -313,6 +313,8 @@ private:
bool set_motor_state(const motor_state target_state, const int32_t channel_bitmap, const int value); bool set_motor_state(const motor_state target_state, const int32_t channel_bitmap, const int value);
void resetAccelToPitchPitchIntegrator() { _accel_to_pitch_integ = 0.f; }
}; };
#endif #endif