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Plane: moved Z altitude target reset 

reset alt target whenever we have not run Z controller for 2s
This commit is contained in:
Andrew Tridgell 2017-04-08 11:49:18 +10:00
parent 68e0b5b7fa
commit 0cf571d338
1 changed files with 10 additions and 6 deletions
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16
ArduPlane/quadplane.cpp
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@ -706,6 +706,16 @@ void QuadPlane::run_z_controller(void)
{
uint32_t now = AP_HAL::millis();
if (now - last_pidz_active_ms > 2000) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Reset alt target to %.1f", inertial_nav.get_altitude());
pos_control->set_alt_target(inertial_nav.get_altitude());
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialize vertical speeds and leash lengths
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z);
// it has been two seconds since we last ran the Z
// controller. We need to assume the integrator may be way off
@ -1127,12 +1137,6 @@ void QuadPlane::update_transition(void)
}
transition_state = TRANSITION_AIRSPEED_WAIT;
transition_start_ms = millis();
if (!assisted_flight) {
// set alt target to current height on transition. This
// starts the Z controller off with the right values
pos_control->set_alt_target(inertial_nav.get_altitude());
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
}
assisted_flight = true;
} else {
assisted_flight = false;