From 5c59d7a434791222a6fad49e64206432a86c22bf Mon Sep 17 00:00:00 2001 From: tumbili Date: Tue, 16 Jun 2015 23:05:25 +0200 Subject: [PATCH] do not run tecs if we are on ground to prevent integrator filling --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 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 8e516a708f..05988ef53a 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 @@ -1024,7 +1024,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2); math::Vector<3> accel_earth = _R_nb * accel_body; - if (!_mTecs.getEnabled()) { + if (!_mTecs.getEnabled() && !_vehicle_status.condition_landed) { _tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth); } @@ -1757,6 +1757,11 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_ const math::Vector<3> &ground_speed, unsigned mode, bool pitch_max_special) { + /* do not run tecs if we are not in air */ + if (_vehicle_status.condition_landed) { + return; + } + if (_mTecs.getEnabled()) { /* Using mtecs library: prepare arguments for mtecs call */ float flightPathAngle = 0.0f;