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fw pos control: set default roll, pitch while waiting for launch

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Thomas Gubler
2014-08-23 12:13:30 +02:00
parent 40d47fb069
commit 9f5004be2d
1 changed files with 7 additions and 1 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+7 -1
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@@ -1143,7 +1143,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
TECS_MODE_TAKEOFF); TECS_MODE_TAKEOFF);
/* limit roll motion to ensure enough lift */ /* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f)); _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f),
math::radians(15.0f));
} else { } else {
tecs_update_pitch_throttle(_pos_sp_triplet.current.alt, tecs_update_pitch_throttle(_pos_sp_triplet.current.alt,
@@ -1159,6 +1160,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_global_pos.alt, _global_pos.alt,
ground_speed); ground_speed);
} }
} else {
/* Set default roll and pitch setpoints during detection phase */
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = math::max(math::radians(pos_sp_triplet.current.pitch_min),
math::radians(10.0f));
} }
} }