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fw_pos_control_l1 reset internal takeoff and landing state when arming

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Daniel Agar 2019-04-02 07:47:39 -04:00 committed by Lorenz Meier
parent e6f1a2db12
commit ec3bc4ee5b
2 changed files with 14 additions and 5 deletions
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17
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -297,12 +297,21 @@ FixedwingPositionControl::parameters_update()
void
FixedwingPositionControl::vehicle_control_mode_poll()
{
bool updated;
bool updated = false;
orb_check(_control_mode_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
const bool was_armed = _control_mode.flag_armed;
if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) == PX4_OK) {
// reset state when arming
if (!was_armed && _control_mode.flag_armed) {
reset_takeoff_state(true);
reset_landing_state();
}
}
}
}
@ -1870,10 +1879,10 @@ FixedwingPositionControl::run()
}
void
FixedwingPositionControl::reset_takeoff_state()
FixedwingPositionControl::reset_takeoff_state(bool force)
{
// only reset takeoff if !armed or just landed
if (!_control_mode.flag_armed || (_was_in_air && _vehicle_land_detected.landed)) {
if (!_control_mode.flag_armed || (_was_in_air && _vehicle_land_detected.landed) || force) {
_runway_takeoff.reset();

2
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -447,7 +447,7 @@ private:
*/
void handle_command();
void reset_takeoff_state();
void reset_takeoff_state(bool force = false);
void reset_landing_state();
/*