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Don't reset indi parameters on enter

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Ewoud Smeur
2017-02-14 20:22:57 +01:00
parent 9d8e2c0603
commit 6d2d22f764
1 changed files with 6 additions and 8 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+6 -8
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@@ -207,20 +207,18 @@ void stabilization_indi_init(void)
}
/**
* Function that resets important values upon engaging INDI
* Function that resets important values upon engaging INDI.
*
* Don't reset inputs and filters, because it is unlikely to switch stabilization in flight,
* and there are multiple modes that use (the same) stabilization. Resetting the controller
* is not so nice when you are flying.
* FIXME: Ideally we should detect when coming from something that is not INDI
*/
void stabilization_indi_enter(void)
{
/* reset psi setpoint to current psi angle */
stab_att_sp_euler.psi = stabilization_attitude_get_heading_i();
// reset filters
init_filters();
float_vect_zero(actuator_state, INDI_NUM_ACT);
float_vect_zero(indi_u, INDI_NUM_ACT);
float_vect_zero(indi_du, INDI_NUM_ACT);
float_vect_zero(du_estimation, INDI_NUM_ACT);
float_vect_zero(ddu_estimation, INDI_NUM_ACT);
}