fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 22:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+10 -10
View File
@@ -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 */