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reset waypoints when switching to fw pos_ctrl mode

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tumbili
2015-06-05 22:45:05 +02:00
committed by Lorenz Meier
parent 0e11f1632c
commit 8b6593495c
1 changed files with 1 additions and 0 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -1303,6 +1303,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Need to init because last loop iteration was in a different mode */ /* Need to init because last loop iteration was in a different mode */
_hold_alt = _global_pos.alt; _hold_alt = _global_pos.alt;
_hdg_hold_yaw = _att.yaw; _hdg_hold_yaw = _att.yaw;
_hdg_hold_enabled = false; // this makes sure the waypoints are reset below
} }
/* Reset integrators if switching to this mode from a other mode in which posctl was not active */ /* Reset integrators if switching to this mode from a other mode in which posctl was not active */
if (_control_mode_current == FW_POSCTRL_MODE_OTHER) { if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {