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remove in air vs landed knowledge from TECS

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- create integral and trajectory generator reset methods
- always run TECS unless in rotary-wing mode (or in transition)
- constantly reset TECS integrals and trajectory generators when landed
This commit is contained in:
Thomas Stastny
2022-07-18 10:49:27 -04:00
committed by Daniel Agar
parent ddeca2538c
commit eed073887d
4 changed files with 45 additions and 43 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
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@@ -302,7 +302,7 @@ private:
matrix::Vector3f _body_velocity{};
bool _reinitialize_tecs{true};
bool _is_tecs_running{false};
bool _tecs_is_running{false};
hrt_abstime _time_last_tecs_update{0}; // [us]