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FixedwingPositionControl combine TECS resets

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This commit is contained in:
Daniel Agar
2017-04-30 21:51:20 -04:00
parent 0e8b0fe013
commit 9511dfa577
1 changed files with 6 additions and 18 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+6 -18
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@@ -682,15 +682,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
_was_in_air = false;
}
/* 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) {
/* reset integrators */
_tecs.reset_state();
}
if (_control_mode.flag_control_auto_enabled && pos_sp_curr.valid) {
/* AUTONOMOUS FLIGHT */
/* 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) {
/* reset integrators */
_tecs.reset_state();
}
_control_mode_current = FW_POSCTRL_MODE_AUTO;
/* reset hold altitude */
@@ -1222,12 +1222,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
_att_sp.yaw_body = 0;
}
/* 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) {
/* reset integrators */
_tecs.reset_state();
}
_control_mode_current = FW_POSCTRL_MODE_POSITION;
float altctrl_airspeed = get_demanded_airspeed();
@@ -1329,12 +1323,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
_hold_alt = _global_pos.alt;
}
/* 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) {
/* reset integrators */
_tecs.reset_state();
}
_control_mode_current = FW_POSCTRL_MODE_ALTITUDE;
/* Get demanded airspeed */