From ccfbbb553a08729e27be33c142f0f69f1c4e556a Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Thu, 5 May 2022 21:22:42 +0200 Subject: [PATCH] fw pos ctrl: only manipulate heading hold yaw in manual position control mode --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 6 ------ 1 file changed, 6 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 0249cef561..22a30d584b 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -881,8 +881,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto { update_in_air_states(now); - _hdg_hold_yaw = _yaw; - _att_sp.roll_reset_integral = false; _att_sp.pitch_reset_integral = false; _att_sp.yaw_reset_integral = false; @@ -1413,8 +1411,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo { update_in_air_states(now); - _hdg_hold_yaw = _yaw; - _att_sp.roll_reset_integral = false; _att_sp.pitch_reset_integral = false; _att_sp.yaw_reset_integral = false; @@ -1662,8 +1658,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo { update_in_air_states(now); - _hdg_hold_yaw = _yaw; - _att_sp.roll_reset_integral = false; _att_sp.pitch_reset_integral = false; _att_sp.yaw_reset_integral = false;