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commander, multirotor_pos_control, multirotor_att_control: bugfixes

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This commit is contained in:
Anton Babushkin
2013-08-16 23:36:49 +02:00
parent 4882bc0f1c
commit c543f89ec1
6 changed files with 134 additions and 121 deletions
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src/modules/multirotor_att_control/multirotor_att_control_main.c
+4 -4
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@@ -250,12 +250,12 @@ mc_thread_main(int argc, char *argv[])
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if (control_mode.failsave_highlevel) {
if (!control_mode.flag_control_position_enabled) {
if (!control_mode.flag_control_velocity_enabled) {
/* Don't reset attitude setpoint in position control mode, it's handled by position controller. */
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
if (!control_mode.flag_control_altitude_enabled) {
if (!control_mode.flag_control_climb_rate_enabled) {
/* Don't touch throttle in modes with altitude hold, it's handled by position controller.
*
* Only go to failsafe throttle if last known throttle was
@@ -309,12 +309,12 @@ mc_thread_main(int argc, char *argv[])
control_yaw_position = true;
}
if (!control_mode.flag_control_position_enabled) {
if (!control_mode.flag_control_velocity_enabled) {
/* don't update attitude setpoint in position control mode */
att_sp.roll_body = manual.roll;
att_sp.pitch_body = manual.pitch;
if (!control_mode.flag_control_position_enabled) {
if (!control_mode.flag_control_climb_rate_enabled) {
/* don't set throttle in altitude hold modes */
att_sp.thrust = manual.throttle;
}