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vtol_att_control: apply multicopter takeoff hotfix also for vtol (#12250)

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Please see reference:
https://github.com/PX4/Firmware/issues/12171
This commit is contained in:
Matthias Grob
2019-06-12 19:59:29 +02:00
committed by Daniel Agar
parent ea48cd4970
commit 0c110a4443
2 changed files with 12 additions and 1 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+1 -1
View File
@@ -521,7 +521,7 @@ MulticopterAttitudeControl::control_attitude()
{
vehicle_attitude_setpoint_poll();
// reinitialize the setpoint while not armed to make sure no value from the last flight is still kept
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
src/modules/vtol_att_control/vtol_att_control_main.cpp
+11
View File
@@ -48,6 +48,9 @@
*/
#include "vtol_att_control_main.h"
#include <systemlib/mavlink_log.h>
#include <matrix/matrix/math.hpp>
using namespace matrix;
namespace VTOL_att_control
{
@@ -701,6 +704,14 @@ void VtolAttitudeControl::task_main()
_vtol_type->fill_actuator_outputs();
}
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
/* Only publish if the proper mode(s) are enabled */
if (_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled ||