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fixed-wing: update rate controller integrator handling

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-always reset roll/pitch/yaw integrators at the same time
-reset them while waiting for launch or during FW Takeoff before Climbout
-reset wheel rate integrator only when disarmed

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-08-12 14:54:21 +02:00
parent cd080289c6
commit 5a2127d026
6 changed files with 17 additions and 59 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+1 -3
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@@ -62,9 +62,7 @@ TEST(PositionControlTest, EmptySetpoint)
EXPECT_FLOAT_EQ(attitude.yaw_sp_move_rate, 0.f);
EXPECT_EQ(Quatf(attitude.q_d), Quatf(1.f, 0.f, 0.f, 0.f));
EXPECT_EQ(Vector3f(attitude.thrust_body), Vector3f(0.f, 0.f, 0.f));
EXPECT_EQ(attitude.roll_reset_integral, false);
EXPECT_EQ(attitude.pitch_reset_integral, false);
EXPECT_EQ(attitude.yaw_reset_integral, false);
EXPECT_EQ(attitude.reset_rate_integrals, false);
EXPECT_EQ(attitude.fw_control_yaw, false);
EXPECT_FLOAT_EQ(attitude.apply_flaps, 0.f);//vehicle_attitude_setpoint_s::FLAPS_OFF); // TODO why no reference?
}