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fw pos control: set pitch sp correctly while waiting for launch

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This commit is contained in:
Thomas Gubler
2014-08-25 12:48:14 +02:00
parent cfbbe60291
commit c591444c1e
1 changed files with 8 additions and 2 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+8 -2
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@@ -1192,7 +1192,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
/* Copy thrust and pitch values from tecs
* making sure again that the correct thrust is used, without depending on library calls */
* making sure again that the correct thrust is used,
* without depending on library calls */
if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
_att_sp.thrust = launchDetector.getThrottlePreTakeoff();
@@ -1200,7 +1201,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
else {
_att_sp.thrust = math::min(_mTecs.getEnabled() ? _mTecs.getThrottleSetpoint() : _tecs.get_throttle_demand(), throttle_max);
}
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
}
if (_control_mode.flag_control_position_enabled) {
last_manual = false;