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mac_att_control: heading lock in stabilized only after ekf final yaw alignment

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This commit is contained in:
Matthias Grob
2023-02-21 19:33:28 +01:00
committed by Silvan Fuhrer
parent f0571de731
commit ce5cff55b7
2 changed files with 16 additions and 5 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+9 -1
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@@ -284,6 +284,14 @@ MulticopterAttitudeControl::Run()
}
}
if (_vehicle_local_position_sub.updated()) {
vehicle_local_position_s vehicle_local_position;
if (_vehicle_local_position_sub.copy(&vehicle_local_position)) {
_heading_good_for_control = vehicle_local_position.heading_good_for_control;
}
}
bool attitude_setpoint_generated = false;
const bool is_hovering = (_vehicle_type_rotary_wing && !_vtol_in_transition_mode);
@@ -337,7 +345,7 @@ MulticopterAttitudeControl::Run()
// reset yaw setpoint during transitions, tailsitter.cpp generates
// attitude setpoint for the transition
_reset_yaw_sp = !attitude_setpoint_generated || (_vtol && _vtol_in_transition_mode);
_reset_yaw_sp = !attitude_setpoint_generated || !_heading_good_for_control || (_vtol && _vtol_in_transition_mode);
}
perf_end(_loop_perf);