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att_control: remove resetting the attitude setpoint

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since the position controller publishes them again already when disarmed.
This commit is contained in:
Matthias Grob
2019-10-16 16:29:14 +02:00
committed by Daniel Agar
parent d3bd251ffc
commit 28755d5bbf
2 changed files with 0 additions and 22 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
-7
View File
@@ -247,13 +247,6 @@ void
MulticopterAttitudeControl::control_attitude() MulticopterAttitudeControl::control_attitude()
{ {
_v_att_sp_sub.update(&_v_att_sp); _v_att_sp_sub.update(&_v_att_sp);
// 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);
}
_rates_sp = _attitude_control.update(Quatf(_v_att.q), Quatf(_v_att_sp.q_d), _v_att_sp.yaw_sp_move_rate); _rates_sp = _attitude_control.update(Quatf(_v_att.q), Quatf(_v_att_sp.q_d), _v_att_sp.yaw_sp_move_rate);
} }
src/modules/vtol_att_control/vtol_att_control_main.cpp
-15
View File
@@ -389,13 +389,6 @@ VtolAttitudeControl::Run()
_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp); _fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
if (mc_att_sp_updated || fw_att_sp_updated) { if (mc_att_sp_updated || fw_att_sp_updated) {
// 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) {
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
_vtol_type->update_transition_state(); _vtol_type->update_transition_state();
_v_att_sp_pub.publish(_v_att_sp); _v_att_sp_pub.publish(_v_att_sp);
} }
@@ -408,14 +401,6 @@ VtolAttitudeControl::Run()
_vtol_vehicle_status.vtol_in_trans_mode = false; _vtol_vehicle_status.vtol_in_trans_mode = false;
_vtol_vehicle_status.in_transition_to_fw = false; _vtol_vehicle_status.in_transition_to_fw = false;
if (mc_att_sp_updated) {
// 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) {
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
}
_vtol_type->update_mc_state(); _vtol_type->update_mc_state();
_v_att_sp_pub.publish(_v_att_sp); _v_att_sp_pub.publish(_v_att_sp);