Sub: Use new reset_i in relax_alt_hold_controllers

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2019-03-13 14:19:42 -03:00 committed by Jacob Walser
parent 0e3d852150
commit 28562871fd
1 changed files with 3 additions and 3 deletions

View File

@ -86,13 +86,13 @@ void Sub::althold_run()
// output pilot's throttle
attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
// reset z targets to current values
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
pos_control.relax_alt_hold_controllers();
engageStopZ = true;
lastVelocityZWasNegative = inertial_nav.get_velocity_z() < 0;
} else { // hold z
if (ap.at_bottom) {
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator
pos_control.relax_alt_hold_controllers(); // clear velocity and position targets
pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
} else if (rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
@ -106,7 +106,7 @@ void Sub::althold_run()
// or smaller input signals
if(engageStopZ && (lastVelocityZWasNegative ^ (inertial_nav.get_velocity_z() < 0) )) {
engageStopZ = false;
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
pos_control.relax_alt_hold_controllers();
}
pos_control.update_z_controller();