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FW att C: do not lock or reset integrator if tailsitter and in hover

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-11-23 12:17:55 +01:00
committed by Roman Bapst
parent efe42451b6
commit 3309bf21dd
1 changed files with 5 additions and 4 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+5 -4
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@@ -380,9 +380,10 @@ void FixedwingAttitudeControl::Run()
wheel_control = true; wheel_control = true;
} }
/* lock integrator until control is started or for long intervals (> 20 ms) */ // lock integrator if no rate control enabled, or in RW mode (but not transitioning VTOL or tailsitter), or for long intervals (> 20 ms)
bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled bool lock_integrator = !_vcontrol_mode.flag_control_rates_enabled
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && ! _vehicle_status.in_transition_mode) || (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING &&
!_vehicle_status.in_transition_mode && !_is_tailsitter)
|| (dt > 0.02f); || (dt > 0.02f);
/* if we are in rotary wing mode, do nothing */ /* if we are in rotary wing mode, do nothing */
@@ -413,11 +414,11 @@ void FixedwingAttitudeControl::Run()
} }
/* Reset integrators if the aircraft is on ground /* Reset integrators if the aircraft is on ground
* or a multicopter (but not transitioning VTOL) * or a multicopter (but not transitioning VTOL or tailsitter)
*/ */
if (_landed if (_landed
|| (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_vehicle_status.in_transition_mode)) { && !_vehicle_status.in_transition_mode && !_is_tailsitter)) {
_roll_ctrl.reset_integrator(); _roll_ctrl.reset_integrator();
_pitch_ctrl.reset_integrator(); _pitch_ctrl.reset_integrator();