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fw pos control: better check for control mode

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Thomas Gubler
2014-12-13 00:48:27 +01:00
parent 4bb07514c8
commit 59ec2401b6
1 changed files with 4 additions and 5 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+4 -5
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@@ -909,10 +909,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
float throttle_max = 1.0f; float throttle_max = 1.0f;
/* AUTONOMOUS FLIGHT */ /* AUTONOMOUS FLIGHT */
if (_control_mode.flag_control_auto_enabled &&
// XXX this should only execute if auto AND safety off (actuators active), pos_sp_triplet.current.valid) {
// else integrators should be constantly reset.
if (pos_sp_triplet.current.valid) {
if (!_was_pos_control_mode) { if (!_was_pos_control_mode) {
/* reset integrators */ /* reset integrators */
@@ -1248,7 +1246,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_reset_integral = true; _att_sp.roll_reset_integral = true;
} }
} else if (_control_mode.flag_control_velocity_enabled) { } else if (_control_mode.flag_control_velocity_enabled &&
_control_mode.flag_control_altitude_enabled) {
const float deadBand = (60.0f/1000.0f); const float deadBand = (60.0f/1000.0f);
const float factor = 1.0f - deadBand; const float factor = 1.0f - deadBand;
if (!_was_velocity_control_mode) { if (!_was_velocity_control_mode) {