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split takeoff into 2 phases, reseting integrators when still on runway

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:08 +01:00
committed by Roman
parent 0c875dd6d1
commit e987082292
6 changed files with 43 additions and 18 deletions
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src/modules/fw_att_control/fw_att_control_main.cpp
+1 -1
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@@ -1046,7 +1046,7 @@ FixedwingAttitudeControl::task_main()
}
float yaw_u = 0.0f;
if (_att_sp.fw_control_wheel == true) {
if (_att_sp.fw_control_yaw == true) {
yaw_u = _wheel_ctrl.control_bodyrate(control_input);
}