From f0571de7313c281a07252f6653c5ced39e8a9d86 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 26 Jan 2023 08:40:39 +0100 Subject: [PATCH] MCAttitudeController: remove reset of yaw_sp when landed Signed-off-by: Silvan Fuhrer --- src/modules/mc_att_control/mc_att_control.hpp | 3 --- src/modules/mc_att_control/mc_att_control_main.cpp | 10 +--------- 2 files changed, 1 insertion(+), 12 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp index fd85488737..17d7da608e 100644 --- a/src/modules/mc_att_control/mc_att_control.hpp +++ b/src/modules/mc_att_control/mc_att_control.hpp @@ -52,7 +52,6 @@ #include #include #include -#include #include #include @@ -101,7 +100,6 @@ private: uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint subscription */ uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)}; /**< vehicle control mode subscription */ uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ - uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)}; /**< vehicle land detected subscription */ uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)}; @@ -124,7 +122,6 @@ private: hrt_abstime _last_run{0}; hrt_abstime _last_attitude_setpoint{0}; - bool _landed{true}; bool _reset_yaw_sp{true}; bool _vehicle_type_rotary_wing{true}; bool _vtol{false}; diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index ad8f22d531..35eb2b98be 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -272,14 +272,6 @@ MulticopterAttitudeControl::Run() _manual_control_setpoint_sub.update(&_manual_control_setpoint); _vehicle_control_mode_sub.update(&_vehicle_control_mode); - if (_vehicle_land_detected_sub.updated()) { - vehicle_land_detected_s vehicle_land_detected; - - if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) { - _landed = vehicle_land_detected.landed; - } - } - if (_vehicle_status_sub.updated()) { vehicle_status_s vehicle_status; @@ -345,7 +337,7 @@ MulticopterAttitudeControl::Run() // reset yaw setpoint during transitions, tailsitter.cpp generates // attitude setpoint for the transition - _reset_yaw_sp = !attitude_setpoint_generated || _landed || (_vtol && _vtol_in_transition_mode); + _reset_yaw_sp = !attitude_setpoint_generated || (_vtol && _vtol_in_transition_mode); } perf_end(_loop_perf);