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fixed-wing: set yaw_sp to yaw_current instead of 0 when not controlled

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 10:41:39 +02:00
committed by Roman Bapst
parent da4d6dc657
commit b53808d11b
3 changed files with 7 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -693,7 +693,7 @@ FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
/* reset setpoints from other modes (auto) otherwise we won't
* level out without new manual input */
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
_att_sp.yaw_body = 0;
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
}
_control_mode_current = FW_POSCTRL_MODE_POSITION;
@@ -1681,7 +1681,7 @@ FixedwingPositionControl::control_altitude(const hrt_abstime &now, const Vector2
_manual_height_rate_setpoint_m_s);
_att_sp.roll_body = _manual_control_setpoint.y * radians(_param_fw_man_r_max.get());
_att_sp.yaw_body = 0;
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
/* Copy thrust and pitch values from tecs */
if (_landed) {
@@ -1800,7 +1800,7 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
}
_att_sp.roll_body = roll_sp_new;
_att_sp.yaw_body = 0;
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
}
/* Copy thrust and pitch values from tecs */