From 819812e11271d7b78f4af2d5bbb7ac6e4be9e494 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 24 Jun 2014 20:52:24 +0200 Subject: [PATCH] fw pos ctrl: move setting of attitude integral reset flag --- .../fw_pos_control_l1/fw_pos_control_l1_main.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 518116fa1d..fe58476821 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1032,12 +1032,15 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi // warnx("Launch detection running"); mavlink_log_info(_mavlink_fd, "#audio: Launchdetection running"); last_sent = hrt_absolute_time(); - /* Tell the attitude controller to stop integrating while we are - * waiting for the launch */ - _att_sp.roll_reset_integral = true; - _att_sp.pitch_reset_integral = true; - _att_sp.yaw_reset_integral = true; } + + /* Tell the attitude controller to stop integrating while we are waiting + * for the launch */ + _att_sp.roll_reset_integral = true; + _att_sp.pitch_reset_integral = true; + _att_sp.yaw_reset_integral = true; + + /* Detect launch */ launchDetector.update(_sensor_combined.accelerometer_m_s2[0]); if (launchDetector.getLaunchDetected()) { launch_detected = true;