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Fixed wing controller: Call state reset on flight mode change.

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Lorenz Meier
2015-11-01 18:26:30 +01:00
parent 5050da0ba0
commit eeecf01628
1 changed files with 6 additions and 0 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+6
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@@ -1118,6 +1118,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_mTecs.getEnabled()) { if (_mTecs.getEnabled()) {
_mTecs.resetIntegrators(); _mTecs.resetIntegrators();
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
} else {
_tecs.reset_state();
} }
} }
_control_mode_current = FW_POSCTRL_MODE_AUTO; _control_mode_current = FW_POSCTRL_MODE_AUTO;
@@ -1477,6 +1479,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_mTecs.getEnabled()) { if (_mTecs.getEnabled()) {
_mTecs.resetIntegrators(); _mTecs.resetIntegrators();
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
} else {
_tecs.reset_state();
} }
} }
_control_mode_current = FW_POSCTRL_MODE_POSITION; _control_mode_current = FW_POSCTRL_MODE_POSITION;
@@ -1588,6 +1592,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_mTecs.getEnabled()) { if (_mTecs.getEnabled()) {
_mTecs.resetIntegrators(); _mTecs.resetIntegrators();
_mTecs.resetDerivatives(_airspeed.true_airspeed_m_s); _mTecs.resetDerivatives(_airspeed.true_airspeed_m_s);
} else {
_tecs.reset_state();
} }
} }
_control_mode_current = FW_POSCTRL_MODE_ALTITUDE; _control_mode_current = FW_POSCTRL_MODE_ALTITUDE;