fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw pos control: don't call tecs 50hz update loop if mtecs is enabled

Browse Source
This commit is contained in:
Thomas Gubler 2014-06-01 09:53:04 +02:00
parent db925db460
commit bb87cb8c61
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -845,7 +845,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
if (!_mTecs.getEnabled()) {
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
}
float altitude_error = _pos_sp_triplet.current.alt - _global_pos.alt;
/* no throttle limit as default */