From bb87cb8c612bb733f0d37226c2157eb080aaf07a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 1 Jun 2014 09:53:04 +0200 Subject: [PATCH] fw pos control: don't call tecs 50hz update loop if mtecs is enabled --- src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index acd623c309..954431fa30 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -845,7 +845,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_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 */