From 8b63dbecde587317cc3399f663e7590df233f9eb Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 6 Feb 2018 23:59:50 -0500 Subject: [PATCH] FW controllers initialize vtol_type to a non-valid value - tailsitter is vtol type 0 --- src/modules/fw_att_control/fw_att_control_main.cpp | 3 +++ src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 3 +++ 2 files changed, 6 insertions(+) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 47ff935281..beff42bc9b 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -456,6 +456,9 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() : _parameter_handles.bat_scale_en = param_find("FW_BAT_SCALE_EN"); + // initialize to invalid VTOL type + _parameters.vtol_type = -1; + /* fetch initial parameter values */ parameters_update(); } diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 1ec9818b2b..41f4181f7e 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -94,6 +94,9 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.heightrate_ff = param_find("FW_T_HRATE_FF"); _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P"); + // initialize to invalid vtol type + _parameters.vtol_type = -1; + /* fetch initial parameter values */ parameters_update(); }