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[rotorcraft] only reset psi and integrators if previous mode was not attitude

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This commit is contained in:
Felix Ruess
2013-07-30 16:38:10 +02:00
parent 707dc7bb29
commit 71efabe590
1 changed files with 5 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+5 -1
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@@ -139,7 +139,11 @@ 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:
stabilization_attitude_enter();
/* reset attitude stabilization if previous mode was not using it */
if (guidance_h_mode == GUIDANCE_H_MODE_RC_DIRECT ||
guidance_h_mode == GUIDANCE_H_MODE_RATE) {
stabilization_attitude_enter();
}
break;
case GUIDANCE_H_MODE_HOVER: