dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

FW Attitude Control: fix integral resetting 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-29 17:10:21 +01:00
parent b78b896498
commit 0c923bda4e
1 changed files with 6 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View File

@ -389,20 +389,19 @@ void FixedwingAttitudeControl::Run()
const float airspeed = get_airspeed_and_update_scaling();
/* reset integrals where needed */
if (_att_sp.reset_integral) {
_rates_sp.reset_integral = true;
}
/* Reset integrators if the aircraft is on ground
/* Reset integrators if commanded by attitude setpoint, or the aircraft is on ground
* or a multicopter (but not transitioning VTOL or tailsitter)
*/
if (_landed
if (_att_sp.reset_integral
|| _landed
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode && !_vehicle_status.is_vtol_tailsitter)) {
_rates_sp.reset_integral = true;
_wheel_ctrl.reset_integrator();
} else {
_rates_sp.reset_integral = false;
}
// update saturation status from control allocation feedback