fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 07:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

FlightModeManager: fix integral reset on ground

Browse Source 
This information could also be used for yaw and integral
resets of the lower level controllers.
This commit is contained in:
Matthias Grob
2020-12-30 10:25:08 -05:00
committed by Daniel Agar
parent 7de288877a
commit fafbb687d8
3 changed files with 6 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_constraints.msg
+1
View File
@@ -11,4 +11,5 @@ float32 tilt # in radians [0, PI]
float32 min_distance_to_ground # in meters
float32 max_distance_to_ground # in meters
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air
float32 minimum_thrust # tell controller what the minimum collective output thrust should be