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move code which clears the pos and alt hold flags to the correct place.

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this should fix the problem of the jump in the altitude setpoint when
switching into altitude hold mode.
This commit is contained in:
tumbili
2016-03-04 08:45:13 +01:00
committed by Roman
parent 989a4a0984
commit 9297a02ac2
1 changed files with 10 additions and 10 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+10 -10
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@@ -1254,6 +1254,16 @@ MulticopterPositionControl::task_main()
_vel_err_d(2) = _vel_z_deriv.update(-_vel(2));
}
// reset the horizontal and vertical position hold flags for non-manual modes
// or if position / altitude is not controlled
if (!_control_mode.flag_control_position_enabled || !_control_mode.flag_control_manual_enabled) {
_pos_hold_engaged = false;
}
if (!_control_mode.flag_control_altitude_enabled || !_control_mode.flag_control_manual_enabled) {
_alt_hold_engaged = false;
}
if (_control_mode.flag_control_altitude_enabled ||
_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_climb_rate_enabled ||
@@ -1266,16 +1276,6 @@ MulticopterPositionControl::task_main()
_run_pos_control = true;
_run_alt_control = true;
// reset the horizontal and vertical position hold flags for non-manual modes
// or if position is not controlled
if (!_control_mode.flag_control_position_enabled || !_control_mode.flag_control_manual_enabled) {
_pos_hold_engaged = false;
}
if (!_control_mode.flag_control_altitude_enabled || !_control_mode.flag_control_manual_enabled) {
_alt_hold_engaged = false;
}
/* select control source */
if (_control_mode.flag_control_manual_enabled) {
/* manual control */