fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

vtol: reset multirotor positon and altitude

Browse Source 
when not in rotary wing mode
This commit is contained in:
tumbili 2016-01-28 16:08:11 +01:00 committed by Andreas Antener
parent dfb31f2252
commit f8f208dbe6
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -908,9 +908,13 @@ MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, f
void MulticopterPositionControl::control_auto(float dt)
{
if (!_mode_auto) {
if (!_mode_auto || _vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
_mode_auto = true;
/* reset position setpoint on AUTO mode activation */
if (_vehicle_status.in_transition_mode || !_vehicle_status.is_rotary_wing) {
_reset_pos_sp = true;
_reset_alt_sp = true;
}
reset_pos_sp();
reset_alt_sp();
/* set current velocity as last target velocity to smooth out transition */