【VTOL】vtol_att_control_main.cpp:remove reset before arm #13178
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remove attitude setpoint reset before arm
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Sounds like this was a hotfix. Can we safely get rid of it now or do we need special handling for the tailsitter case? |
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From the results of the gazebo simulation, the problem exists in all vtol type drones.Not just |
MaEtUgR
requested changes
Oct 15, 2019
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These reinitializations are still necessary. To get rid of these without having the takeoff issue we need to go back to always publishing attitude setpoints from the position controller and/or handling not having them better in the attitude controller.
FYI @RomanBapst
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remove attitude setpoint reset before arm
To fix: #13167
I have tested it in gazebo and real vtol
FYI： @dagar