From dd1821b02e2985da8e42b1b5df9dcd13b880a978 Mon Sep 17 00:00:00 2001
From: devbharat <bharat.tak8@gmail.com>
Date: Tue, 15 Nov 2016 14:25:31 +0100
Subject: [PATCH] Reset alt/position when entring position control from auto
---
Firmware.sublime-project | 154 +++++-------------
.../mc_pos_control/mc_pos_control_main.cpp | 9 +-
2 files changed, 49 insertions(+), 114 deletions(-)
diff --git a/Firmware.sublime-project b/Firmware.sublime-project
index 2ab2b47c0b..bfdddda2b9 100644
--- a/Firmware.sublime-project
+++ b/Firmware.sublime-project
@@ -1,50 +1,8 @@
{
- "build_systems":
- [
- {
- "cmd":
- [
- "make"
- ],
- "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
- "name": "PX4: make all",
- "shell": true,
- "working_dir": "${project_path}"
- },
- {
- "cmd":
- [
- "make upload px4fmu-v2_default -j8"
- ],
- "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
- "name": "PX4: make and upload",
- "shell": true,
- "working_dir": "${project_path}"
- },
- {
- "cmd":
- [
- "make posix"
- ],
- "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
- "name": "PX4: make posix",
- "shell": true,
- "working_dir": "${project_path}"
- },
- {
- "cmd":
- [
- "make upload mindpx-v2_default -j8"
- ],
- "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
- "name": "MindPX_V2: make and upload",
- "shell": true,
- "working_dir": "${project_path}"
- }
- ],
"folders":
[
{
+ "path": ".",
"file_exclude_patterns":
[
"*.o",
@@ -68,87 +26,57 @@
".settings",
"nuttx/arch/arm/src/board",
"nuttx/arch/arm/src/chip"
- ],
- "path": "."
- },
- {
- "path": "build_posix_sitl_default"
- },
- {
- "path": "build_px4fmu-v2_default"
- },
- {
- "path": "build_px4fmu-v4_default"
- },
- {
- "path": "cmake"
- },
- {
- "path": "Debug"
- },
- {
- "path": "Documentation"
- },
- {
- "path": "Images"
- },
- {
- "path": "integrationtests"
- },
- {
- "path": "launch"
- },
- {
- "path": "mavlink"
- },
- {
- "path": "misc"
- },
- {
- "path": "msg"
- },
- {
- "path": "NuttX"
- },
- {
- "path": "nuttx-configs"
- },
- {
- "path": "posix-configs"
- },
- {
- "path": "ROMFS"
- },
- {
- "path": "src"
- },
- {
- "path": "test_data"
- },
- {
- "path": "Tools"
- },
- {
- "path": "unittests"
+ ]
}
],
"settings":
{
+ "tab_size": 8,
+ "translate_tabs_to_spaces": false,
+ "highlight_line": true,
"AStyleFormatter":
{
"options_c":
{
- "additional_options_file": "${project_path}/Tools/astylerc",
- "use_only_additional_options": true
+ "use_only_additional_options": true,
+ "additional_options_file": "${project_path}/Tools/astylerc"
},
"options_c++":
{
- "additional_options_file": "${project_path}/Tools/astylerc",
- "use_only_additional_options": true
+ "use_only_additional_options": true,
+ "additional_options_file": "${project_path}/Tools/astylerc"
}
+ }
+ },
+ "build_systems":
+ [
+ {
+ "name": "PX4: make all",
+ "working_dir": "${project_path}",
+ "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+ "cmd": ["make"],
+ "shell": true
},
- "highlight_line": true,
- "tab_size": 8,
- "translate_tabs_to_spaces": false
- }
+ {
+ "name": "PX4: make and upload",
+ "working_dir": "${project_path}",
+ "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+ "cmd": ["make upload px4fmu-v2_default -j8"],
+ "shell": true
+ },
+ {
+ "name": "PX4: make posix",
+ "working_dir": "${project_path}",
+ "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+ "cmd": ["make posix"],
+ "shell": true
+ },
+ {
+ "name": "MindPX_V2: make and upload",
+ "working_dir": "${project_path}",
+ "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+ "cmd": ["make upload mindpx-v2_default -j8"],
+ "shell": true
+ }
+ ]
}
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index c1cf2146b5..cebdf23531 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -865,6 +865,14 @@ MulticopterPositionControl::limit_pos_sp_offset()
void
MulticopterPositionControl::control_manual(float dt)
{
+ /* Entering manual control from non-manual control mode, reset alt/pos setpoints */
+ if (_mode_auto) {
+ _mode_auto = false;
+
+ _reset_pos_sp = true;
+ _reset_alt_sp = true;
+ }
+
math::Vector<3> req_vel_sp; // X,Y in local frame and Z in global (D), in [-1,1] normalized range
req_vel_sp.zero();
@@ -1433,7 +1441,6 @@ MulticopterPositionControl::task_main()
if (_control_mode.flag_control_manual_enabled) {
/* manual control */
control_manual(dt);
- _mode_auto = false;
} else if (_control_mode.flag_control_offboard_enabled) {
/* offboard control */
--
GitLab