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vtol: reset multirotor positon and altitude

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when not in rotary wing mode
This commit is contained in:
tumbili
2016-02-08 11:09:11 +01:00
committed by Andreas Antener
parent dfb31f2252
commit f8f208dbe6
1 changed files with 5 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -1
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@@ -908,9 +908,13 @@ MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, f
void MulticopterPositionControl::control_auto(float dt) 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; _mode_auto = true;
/* reset position setpoint on AUTO mode activation */ /* 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_pos_sp();
reset_alt_sp(); reset_alt_sp();
/* set current velocity as last target velocity to smooth out transition */ /* set current velocity as last target velocity to smooth out transition */