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[rotorcraft] by default always reset attitude stab on mode change again

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To only reset (psi setpoint to current value, reset ref, reset integrators) the attitude stabilization
if the previous mode was not using it, define NO_ATTITUDE_RESET_ON_MODE_CHANGE
This commit is contained in:
Felix Ruess
2013-09-03 17:23:39 +02:00
parent 10be9996b6
commit 07a1dc6908
1 changed files with 9 additions and 6 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+9 -6
View File
@@ -139,32 +139,35 @@ void guidance_h_mode_changed(uint8_t new_mode) {
stabilization_attitude_reset_care_free_heading();
case GUIDANCE_H_MODE_FORWARD:
case GUIDANCE_H_MODE_ATTITUDE:
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
#endif
stabilization_attitude_enter();
}
break;
case GUIDANCE_H_MODE_HOVER:
guidance_h_hover_enter();
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
stabilization_attitude_enter();
}
#endif
break;
case GUIDANCE_H_MODE_NAV:
guidance_h_nav_enter();
#if NO_ATTITUDE_RESET_ON_MODE_CHANGE
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_KILL ||
guidance_h_mode == GUIDANCE_H_MODE_RATE ||
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT) {
guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT)
stabilization_attitude_enter();
}
#endif
break;
default: