From 5949b6615d52fe694f3f2a8824d19838158fd572 Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Wed, 14 Oct 2015 18:08:35 +0200 Subject: [PATCH] don't reset the yaw integrator on takeoff --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 121eae8af5..02a61a20e7 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1443,9 +1443,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_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);*/