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[rotorcraft] v_adapt: reset while not in_flight

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This commit is contained in:
Felix Ruess
2013-08-12 14:39:04 +02:00
parent e9ca4d4f1f
commit 95871c8d2b
1 changed files with 4 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+4
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@@ -166,6 +166,10 @@ void guidance_v_run(bool_t in_flight) {
if (in_flight) { if (in_flight) {
gv_adapt_run(stateGetAccelNed_i()->z, stabilization_cmd[COMMAND_THRUST], guidance_v_zd_ref); gv_adapt_run(stateGetAccelNed_i()->z, stabilization_cmd[COMMAND_THRUST], guidance_v_zd_ref);
} }
else {
/* reset estimate while not in_flight */
gv_adapt_init();
}
switch (guidance_v_mode) { switch (guidance_v_mode) {