fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-19 19:29:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw_pos_control_l1: when doing a position reset just reset position controller

Browse Source 
- do not try to shift the target waypoints when a reset occurs in position
control mode. Just make it lock into the current heading.

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-10-19 16:12:42 +02:00
parent 7ba49aeb80
commit 76f862de33
1 changed files with 2 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -2302,22 +2302,8 @@ FixedwingPositionControl::task_main()
if (_control_mode.flag_control_altitude_enabled && _control_mode.flag_control_velocity_enabled
&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
// add position reset delta to previous waypoint coordinate
// wrap latitude value by applying an arcsinus to the sine of the latitude value
// this makes sure that latitude is always in the correct range of [-pi/2, pi/2]
// wrap longitude to the range [-pi, pi]
_hdg_hold_prev_wp.lat += _global_pos.delta_lat_lon[0];
_hdg_hold_prev_wp.lat = M_RAD_TO_DEG * asin(sin(_hdg_hold_prev_wp.lat * M_DEG_TO_RAD));
_hdg_hold_prev_wp.lon += _global_pos.delta_lat_lon[1];
_hdg_hold_prev_wp.lon = M_RAD_TO_DEG * matrix::wrap_pi(_hdg_hold_prev_wp.lon * M_DEG_TO_RAD);
// add position reset delta to current waypoint coordinate
_hdg_hold_curr_wp.lat += _global_pos.delta_lat_lon[0];
_hdg_hold_curr_wp.lat = M_RAD_TO_DEG * asin(sin(_hdg_hold_curr_wp.lat * M_DEG_TO_RAD));
_hdg_hold_curr_wp.lon += _global_pos.delta_lat_lon[1];
_hdg_hold_curr_wp.lon = M_RAD_TO_DEG * matrix::wrap_pi(_hdg_hold_curr_wp.lon * M_DEG_TO_RAD);
// reset heading hold flag, which will re-initialise position control
_hdg_hold_enabled = false;
// update reset counter
_pos_reset_counter = _global_pos.lat_lon_reset_counter;