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Reset the altitude setpoint.

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This commit is contained in:
Simon Wilks 2015-08-21 16:51:11 +02:00
parent 27e4139540
commit f7e4a4852d
2 changed files with 11 additions and 4 deletions
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6
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1027,7 +1027,11 @@ bool FixedwingPositionControl::update_desired_altitude(float dt)
_althold_epv = _global_pos.epv;
_was_in_deadband = true;
}
if (_vehicle_status.is_vtol) {
if (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode) {
_hold_alt = _global_pos.alt;
}
}
return climbout_mode;
}

9
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -993,9 +993,12 @@ MulticopterPositionControl::task_main()
reset_yaw_sp = true;
}
// XXX Temporary: for vtol use we need to reset the yaw setpoint when we are doing a transition
if (_vehicle_status.in_transition_mode) {
reset_yaw_sp = true;
/* reset yaw and altitude setpoint for VTOL which are in fw mode */
if (_vehicle_status.is_vtol) {
if (!_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
reset_yaw_sp = true;
_reset_alt_sp = true;
}
}
//Update previous arming state