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mc_pos_control_main - Re-add updateVelocityControllerIO for glitch-free position unlock

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bresch
2019-02-28 21:26:13 +01:00
committed by Matthias Grob
parent 1eced05359
commit 684e2974ac
1 changed files with 4 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -777,6 +777,10 @@ MulticopterPositionControl::run()
// vehicle intention. // vehicle intention.
publish_local_pos_sp(local_pos_sp); publish_local_pos_sp(local_pos_sp);
// Inform FlightTask about the input and output of the velocity controller
// This is used to properly initialize the velocity setpoint when onpening the position loop (position unlock)
_flight_tasks.updateVelocityControllerIO(_control.getVelSp(), local_pos_sp.thrust);
// Part of landing logic: if ground-contact/maybe landed was detected, turn off // Part of landing logic: if ground-contact/maybe landed was detected, turn off
// controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic. // controller. This message does not have to be logged as part of the vehicle_local_position_setpoint topic.
// Note: only adust thrust output if there was not thrust-setpoint demand in D-direction. // Note: only adust thrust output if there was not thrust-setpoint demand in D-direction.