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altitude control loop run even in manual and auto1 (to get the desired

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altitude)
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Pascal Brisset
2006-10-17 16:51:46 +00:00
parent 7f878c47f9
commit 5ad84d43bb
1 changed files with 6 additions and 3 deletions
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sw/airborne/main_ap.c
+6 -3
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@@ -315,14 +315,17 @@ static void navigation_task( void ) {
SEND_CAM();
/* The nav task computes only nav_altitude. However, we are interested
by desired_altitude (= nav_alt+alt_shift) in any case.
So we always run the altitude control loop */
if (vertical_mode == VERTICAL_MODE_AUTO_ALT)
altitude_pid_run();
if (pprz_mode == PPRZ_MODE_AUTO2 || pprz_mode == PPRZ_MODE_HOME
|| pprz_mode == PPRZ_MODE_GPS_OUT_OF_ORDER) {
if (lateral_mode >=LATERAL_MODE_COURSE)
course_pid_run(); /* aka compute nav_desired_roll */
desired_roll = nav_desired_roll;
if (vertical_mode == VERTICAL_MODE_AUTO_ALT)
altitude_pid_run();
if (vertical_mode >= VERTICAL_MODE_AUTO_CLIMB)
climb_pid_run();
if (vertical_mode == VERTICAL_MODE_AUTO_GAZ)