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mc_pos_control: more correct control flags usage

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This commit is contained in:
Anton Babushkin
2014-02-01 10:32:46 +01:00
parent 8a20395159
commit f835980b46
1 changed files with 4 additions and 8 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -8
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@@ -672,7 +672,7 @@ MulticopterPositionControl::task_main()
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
}
} else if (_control_mode.flag_control_auto_enabled) {
} else {
/* always use AMSL altitude for AUTO */
select_alt(true);
@@ -703,13 +703,9 @@ MulticopterPositionControl::task_main()
reset_lat_lon_sp();
reset_alt_sp();
}
} else {
/* no control, reset setpoint */
reset_lat_lon_sp();
reset_alt_sp();
}
if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_IDLE) {
/* idle state, don't run controller and set zero thrust */
R.identity();
memcpy(&_att_sp.R_body[0][0], R.data, sizeof(_att_sp.R_body));
@@ -751,7 +747,7 @@ MulticopterPositionControl::task_main()
}
/* use constant descend rate when landing, ignore altitude setpoint */
if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
_vel_sp(2) = _params.land_speed;
}
@@ -848,7 +844,7 @@ MulticopterPositionControl::task_main()
float tilt_max = _params.tilt_max;
/* adjust limits for landing mode */
if (_control_mode.flag_control_auto_enabled && _pos_sp_triplet.current.valid &&
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
/* limit max tilt and min lift when landing */
tilt_max = _params.land_tilt_max;