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don't reset the yaw integrator on takeoff

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:09 +01:00
committed by Roman
parent 11c6ee2b5a
commit 5949b6615d
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+1 -1
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@@ -1443,9 +1443,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.fw_control_yaw = _runway_takeoff.controlYaw();
_att_sp.pitch_body = _runway_takeoff.getPitch(_tecs.get_pitch_demand());
// reset integrals except yaw (which also counts for the wheel controller)
_att_sp.roll_reset_integral = _runway_takeoff.resetIntegrators();
_att_sp.pitch_reset_integral = _runway_takeoff.resetIntegrators();
_att_sp.yaw_reset_integral = _runway_takeoff.resetIntegrators();
/*warnx("yaw: %.4f, roll: %.4f, pitch: %.4f", (double)_att_sp.yaw_body,
(double)_att_sp.roll_body, (double)_att_sp.pitch_body);*/