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MCAttitudeController: remove reset of yaw_sp when landed

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-21 19:33:28 +01:00
parent fe3c1d0a92
commit f0571de731
2 changed files with 1 additions and 12 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -9
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@@ -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);