From 9a911f7388e1a48630469fd2e875f00a119c829a Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 24 Jun 2014 17:40:56 +0200 Subject: [PATCH] fw att control: reset integrators when requested via attitude setpoint topic --- src/modules/fw_att_control/fw_att_control_main.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 178b590ae5..3cd4ce9285 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -707,14 +707,21 @@ FixedwingAttitudeControl::task_main() float throttle_sp = 0.0f; if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) { + /* read in attitude setpoint from attitude setpoint uorb topic */ roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad; pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad; throttle_sp = _att_sp.thrust; /* reset integrals where needed */ - if (_att_sp.roll_reset_integral) + if (_att_sp.roll_reset_integral) { _roll_ctrl.reset_integrator(); - + } + if (_att_sp.pitch_reset_integral) { + _pitch_ctrl.reset_integrator(); + } + if (_att_sp.yaw_reset_integral) { + _yaw_ctrl.reset_integrator(); + } } else { /* * Scale down roll and pitch as the setpoints are radians