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define new mode for altitude

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Roman
2015-06-05 22:45:06 +02:00
committed by Lorenz Meier
parent 8b6593495c
commit 629002738b
1 changed files with 3 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+3 -2
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@@ -209,6 +209,7 @@ private:
enum FW_POSCTRL_MODE {
FW_POSCTRL_MODE_AUTO,
FW_POSCTRL_MODE_POSITION,
FW_POSCTRL_MODE_ALTITUDE,
FW_POSCTRL_MODE_OTHER
} _control_mode_current; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
@@ -1395,7 +1396,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
const float deadBand = (60.0f/1000.0f);
const float factor = 1.0f - deadBand;
if (_control_mode_current != FW_POSCTRL_MODE_POSITION) {
if (_control_mode_current != FW_POSCTRL_MODE_POSITION && _control_mode_current != FW_POSCTRL_MODE_ALTITUDE) {
/* Need to init because last loop iteration was in a different mode */
_hold_alt = _global_pos.alt;
}
@@ -1407,7 +1408,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
}
}
_control_mode_current = FW_POSCTRL_MODE_POSITION;
_control_mode_current = FW_POSCTRL_MODE_ALTITUDE;
/* Get demanded airspeed */
float altctrl_airspeed = _parameters.airspeed_min +