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PosititionControl: fix integrator windup with invalid setpoint

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This commit is contained in:
Matthias Grob
2022-01-19 10:41:09 +01:00
parent 8811482f1d
commit d4e356a1ac
2 changed files with 24 additions and 15 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+1 -1
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@@ -179,7 +179,7 @@ public:
void getAttitudeSetpoint(vehicle_attitude_setpoint_s &attitude_setpoint) const;
private:
bool _updateSuccessful();
bool _inputValid();
void _positionControl(); ///< Position proportional control
void _velocityControl(const float dt); ///< Velocity PID control