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Only update TECS filter if auto is enabled. This forces the internal TECS logic to reset between auto runs

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This commit is contained in:
Lorenz Meier 2015-07-22 22:23:13 +02:00
parent 97e9f44d35
commit e84d97b387
1 changed files with 3 additions and 2 deletions
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5
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1054,8 +1054,9 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
if (!_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
/* update TECS filters, but only if in auto mode. */
if (_control_mode.flag_control_auto_enabled && (_global_pos.timestamp > 0) && !_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
_tecs.update_50hz(_global_pos.alt, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
}
/* define altitude error */