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Jaeyoung-Lim
2021-10-11 19:55:53 +02:00
committed by JaeyoungLim
parent 443666199e
commit 07d72f8604
1 changed files with 2 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -7
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@@ -1689,8 +1689,6 @@ FixedwingPositionControl::control_altitude(const hrt_abstime &now, const Vector2
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
}
// decide when to use pitch setpoint from TECS because in some cases pitch
// setpoint is generated by other means
_att_sp.pitch_body = get_tecs_pitch();
_last_manual = !_control_mode.flag_control_position_enabled;
@@ -1811,8 +1809,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
}
// decide when to use pitch setpoint from TECS because in some cases pitch
// setpoint is generated by other means
_att_sp.pitch_body = get_tecs_pitch();
_last_manual = !_control_mode.flag_control_position_enabled;
@@ -1961,7 +1957,6 @@ FixedwingPositionControl::Run()
Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
set_control_mode_current(_pos_sp_triplet.current.valid);
bool setpoint = true;
switch (_control_mode_current) {
case FW_POSCTRL_MODE_AUTO: {
@@ -1981,7 +1976,6 @@ FixedwingPositionControl::Run()
}
case FW_POSCTRL_MODE_OTHER: {
setpoint = false;
/* do not publish the setpoint */
// reset hold altitude
_hold_alt = _current_altitude;
@@ -1999,7 +1993,8 @@ FixedwingPositionControl::Run()
}
if (setpoint) {
if (_control_mode_current != FW_POSCTRL_MODE_OTHER) {
if (_control_mode.flag_control_manual_enabled) {
_att_sp.roll_body = constrain(_att_sp.roll_body, -radians(_param_fw_man_r_max.get()),
radians(_param_fw_man_r_max.get()));