From 3f3a82e03457a4bd051a3b74b32f9bd4d112f4a3 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 30 Nov 2020 17:14:20 +0100 Subject: [PATCH] FlightTaskManualAcceleration: reset position lock on reactivation to prevent having a fixed position lock while moving the vehicle on the ground before flying. --- .../tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/lib/flight_tasks/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp b/src/lib/flight_tasks/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp index 8e3e5322f3..b56aca8dc5 100644 --- a/src/lib/flight_tasks/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp +++ b/src/lib/flight_tasks/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp @@ -54,6 +54,8 @@ bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoin _velocity_setpoint.xy() = Vector2f(_velocity); } + _stick_acceleration_xy.resetPosition(); + if (PX4_ISFINITE(last_setpoint.acceleration[0])) { _stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1])); }