fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 17:38:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: correctly initialize landed state

Browse Source 
Since orb_copy is guarded with a orb_check, we ended up not having the
corrent landed state in the beginning which could lead to some
unexpected behaviour on takeoff.
This commit is contained in:
Julian Oes
2016-10-23 16:25:15 +02:00
committed by Lorenz Meier
parent 3a332bb11a
commit ff415a4f1d
1 changed files with 3 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+3
View File
@@ -1244,6 +1244,9 @@ MulticopterPositionControl::task_main()
/* get an initial update for all sensor and status data */
poll_subscriptions();
/* We really need to know from the beginning if we're landed or in-air. */
orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &_vehicle_land_detected);
bool reset_int_z = true;
bool reset_int_z_manual = false;
bool reset_int_xy = true;