forked from Archive/PX4-Autopilot
vtol_type: reset accel to pitch integrator
Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
parent
cbf34109d1
commit
f6a34e1e80
|
@ -140,6 +140,8 @@ void VtolType::update_mc_state()
|
|||
_flag_idle_mc = set_idle_mc();
|
||||
}
|
||||
|
||||
resetAccelToPitchPitchIntegrator();
|
||||
|
||||
VtolType::set_all_motor_state(motor_state::ENABLED);
|
||||
|
||||
// copy virtual attitude setpoint to real attitude setpoint
|
||||
|
@ -157,6 +159,8 @@ void VtolType::update_fw_state()
|
|||
_flag_idle_mc = !set_idle_fw();
|
||||
}
|
||||
|
||||
resetAccelToPitchPitchIntegrator();
|
||||
|
||||
VtolType::set_alternate_motor_state(motor_state::DISABLED);
|
||||
|
||||
// copy virtual attitude setpoint to real attitude setpoint
|
||||
|
|
|
@ -313,6 +313,8 @@ private:
|
|||
|
||||
bool set_motor_state(const motor_state target_state, const int32_t channel_bitmap, const int value);
|
||||
|
||||
void resetAccelToPitchPitchIntegrator() { _accel_to_pitch_integ = 0.f; }
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
Loading…
Reference in New Issue