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PositionControl: add integral reset methods

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 65a9cd171f
commit 0f4eb8e766
1 changed files with 2 additions and 0 deletions
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src/modules/mc_pos_control/PositionControl.hpp
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@@ -68,6 +68,8 @@ public:
void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint); void updateSetpoint(const vehicle_local_position_setpoint_s &setpoint);
void updateConstraints(const Controller::Constraints &constraints); void updateConstraints(const Controller::Constraints &constraints);
void generateThrustYawSetpoint(const float &dt); void generateThrustYawSetpoint(const float &dt);
void resetIntegralXY() {_thr_int(0) = _thr_int(1) = 0.0f;};
void resetIntegralZ() {_thr_int(2) = 0.0f;};
matrix::Vector3f getThrustSetpoint() {return _thr_sp;} matrix::Vector3f getThrustSetpoint() {return _thr_sp;}
float getYawSetpoint() { return _yaw_sp;} float getYawSetpoint() { return _yaw_sp;}