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px4-firmware
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do not run tecs if we are on ground to prevent integrator filling

This commit is contained in:
tumbili 2015-06-16 23:05:25 +02:00
parent c91bb76b42
commit 5c59d7a434
1 changed files with 6 additions and 1 deletions
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7
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -1024,7 +1024,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::Vector<3> accel_body(_sensor_combined.accelerometer_m_s2);
math::Vector<3> accel_earth = _R_nb * accel_body;
if (!_mTecs.getEnabled()) {
if (!_mTecs.getEnabled() && !_vehicle_status.condition_landed) {
_tecs.update_50hz(_global_pos.alt /* XXX might switch to alt err here */, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
}
@ -1757,6 +1757,11 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
const math::Vector<3> &ground_speed,
unsigned mode, bool pitch_max_special)
{
/* do not run tecs if we are not in air */
if (_vehicle_status.condition_landed) {
return;
}
if (_mTecs.getEnabled()) {
/* Using mtecs library: prepare arguments for mtecs call */
float flightPathAngle = 0.0f;