aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AC_WPNav: provide reset_I to init_xy_controller

Browse Source
This commit is contained in:
Jonathan Challinger 2014-12-12 13:35:17 -08:00 committed by Randy Mackay
parent d6e455417f
commit 5438d38df5
1 changed files with 1 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -120,13 +120,8 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosContro
/// init_loiter_target in cm from home /// init_loiter_target in cm from home
void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I) void AC_WPNav::init_loiter_target(const Vector3f& position, bool reset_I)
{ {
// if reset_I is false we warn position controller not to reset I terms
if (!reset_I) {
_pos_control.keep_xy_I_terms();
}
// initialise position controller // initialise position controller
_pos_control.init_xy_controller(); _pos_control.init_xy_controller(reset_I);
// initialise pos controller speed and acceleration // initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_loiter_speed_cms); _pos_control.set_speed_xy(_loiter_speed_cms);