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fw pos ctrl: move setting of attitude integral reset flag

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Thomas Gubler
2014-06-24 20:52:24 +02:00
parent 9904ed878e
commit 819812e112
1 changed files with 8 additions and 5 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+8 -5
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@@ -1032,12 +1032,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// warnx("Launch detection running"); // warnx("Launch detection running");
mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running");
last_sent = hrt_absolute_time(); last_sent = hrt_absolute_time();
/* Tell the attitude controller to stop integrating while we are
* waiting for the launch */
_att_sp.roll_reset_integral = true;
_att_sp.pitch_reset_integral = true;
_att_sp.yaw_reset_integral = true;
} }
/* Tell the attitude controller to stop integrating while we are waiting
* for the launch */
_att_sp.roll_reset_integral = true;
_att_sp.pitch_reset_integral = true;
_att_sp.yaw_reset_integral = true;
/* Detect launch */
launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); launchDetector.update(_sensor_combined.accelerometer_m_s2[0]);
if (launchDetector.getLaunchDetected()) { if (launchDetector.getLaunchDetected()) {
launch_detected = true; launch_detected = true;