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fw pos ctrl: only manipulate heading hold yaw in manual position control mode

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This commit is contained in:
Thomas Stastny
2022-05-05 21:22:42 +02:00
parent 67d8dd359d
commit ccfbbb553a
1 changed files with 0 additions and 6 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
-6
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@@ -881,8 +881,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
{ {
update_in_air_states(now); update_in_air_states(now);
_hdg_hold_yaw = _yaw;
_att_sp.roll_reset_integral = false; _att_sp.roll_reset_integral = false;
_att_sp.pitch_reset_integral = false; _att_sp.pitch_reset_integral = false;
_att_sp.yaw_reset_integral = false; _att_sp.yaw_reset_integral = false;
@@ -1413,8 +1411,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
{ {
update_in_air_states(now); update_in_air_states(now);
_hdg_hold_yaw = _yaw;
_att_sp.roll_reset_integral = false; _att_sp.roll_reset_integral = false;
_att_sp.pitch_reset_integral = false; _att_sp.pitch_reset_integral = false;
_att_sp.yaw_reset_integral = false; _att_sp.yaw_reset_integral = false;
@@ -1662,8 +1658,6 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
{ {
update_in_air_states(now); update_in_air_states(now);
_hdg_hold_yaw = _yaw;
_att_sp.roll_reset_integral = false; _att_sp.roll_reset_integral = false;
_att_sp.pitch_reset_integral = false; _att_sp.pitch_reset_integral = false;
_att_sp.yaw_reset_integral = false; _att_sp.yaw_reset_integral = false;