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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.hpp
-3
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@@ -52,7 +52,6 @@
#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp> #include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <AttitudeControl.hpp> #include <AttitudeControl.hpp>
@@ -101,7 +100,6 @@ private:
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)}; /**< vehicle attitude setpoint subscription */ 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_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_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)}; uORB::SubscriptionCallbackWorkItem _vehicle_attitude_sub{this, ORB_ID(vehicle_attitude)};
@@ -124,7 +122,6 @@ private:
hrt_abstime _last_run{0}; hrt_abstime _last_run{0};
hrt_abstime _last_attitude_setpoint{0}; hrt_abstime _last_attitude_setpoint{0};
bool _landed{true};
bool _reset_yaw_sp{true}; bool _reset_yaw_sp{true};
bool _vehicle_type_rotary_wing{true}; bool _vehicle_type_rotary_wing{true};
bool _vtol{false}; bool _vtol{false};
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); _manual_control_setpoint_sub.update(&_manual_control_setpoint);
_vehicle_control_mode_sub.update(&_vehicle_control_mode); _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()) { if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status; vehicle_status_s vehicle_status;
@@ -345,7 +337,7 @@ MulticopterAttitudeControl::Run()
// reset yaw setpoint during transitions, tailsitter.cpp generates // reset yaw setpoint during transitions, tailsitter.cpp generates
// attitude setpoint for the transition // 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); perf_end(_loop_perf);