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AC_AttitudeControl: Add missing variable initalisations

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Leonard Hall 2018-09-14 22:43:47 +09:30 committed by Randy Mackay
parent dfa20484fa
commit 4679afdf31
1 changed files with 16 additions and 5 deletions
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21
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -161,15 +161,26 @@ void AC_AttitudeControl::set_throttle_out_unstabilized(float throttle_in, bool r
// Ensure attitude controller have zero errors to relax rate controller output
void AC_AttitudeControl::relax_attitude_controllers()
{
// Initialize the attitude variables to the current attitude
// TODO add _ahrs.get_quaternion()
_attitude_target_quat.from_rotation_matrix(_ahrs.get_rotation_body_to_ned());
_attitude_target_ang_vel = _ahrs.get_gyro();
_attitude_target_euler_angle = Vector3f(_ahrs.roll, _ahrs.pitch, _ahrs.yaw);
_attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
_attitude_ang_error.initialise();
// Set reference angular velocity used in angular velocity controller equal
// to the input angular velocity and reset the angular velocity integrators.
// This zeros the output of the angular velocity controller.
// Initialize the angular rate variables to the current rate
_attitude_target_ang_vel = _ahrs.get_gyro();
ang_vel_to_euler_rate(_attitude_target_euler_angle, _attitude_target_ang_vel, _attitude_target_euler_rate);
_rate_target_ang_vel = _ahrs.get_gyro();
// Initialize remaining variables
_thrust_error_angle = 0.0f;
// Reset the PID filters
get_rate_roll_pid().reset_filter();
get_rate_pitch_pid().reset_filter();
get_rate_yaw_pid().reset_filter();
// Reset the I terms
reset_rate_controller_I_terms();
}