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FW separate reset integrals for messages (#20502)

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This commit separates integral resets for attitude and rate control setpoints
This commit is contained in:
JaeyoungLim
2022-11-01 06:06:27 +01:00
committed by GitHub
parent 6d2dd798a0
commit a90857f651
5 changed files with 12 additions and 10 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1487,7 +1487,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
if (_runway_takeoff.resetIntegrators()) {
// reset integrals except yaw (which also counts for the wheel controller)
_att_sp.reset_rate_integrals = true;
_att_sp.reset_integral = true;
// throttle is open loop anyway during ground roll, no need to wind up the integrator
_tecs.resetIntegrals();
@@ -1626,7 +1626,7 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
} else {
/* Tell the attitude controller to stop integrating while we are waiting for the launch */
_att_sp.reset_rate_integrals = true;
_att_sp.reset_integral = true;
/* Set default roll and pitch setpoints during detection phase */
_att_sp.roll_body = 0.0f;
@@ -2249,7 +2249,7 @@ FixedwingPositionControl::Run()
_npfg.setPeriod(_param_npfg_period.get());
_l1_control.set_l1_period(_param_fw_l1_period.get());
_att_sp.reset_rate_integrals = false;
_att_sp.reset_integral = false;
// by default we don't want yaw to be contoller directly with rudder
_att_sp.fw_control_yaw = false;