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VTOL: Only Reset Thrust but not Attitude when Disarmed #13198

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Oct 16, 2019
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VTOL: Only Reset Thrust but not Attitude when Disarmed #13198

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5 changes: 0 additions & 5 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,6 @@
*/
#include "vtol_att_control_main.h"
#include <systemlib/mavlink_log.h>
#include <matrix/matrix/math.hpp>
#include <uORB/PublicationQueued.hpp>

using namespace matrix;
Expand Down Expand Up @@ -393,9 +392,7 @@ VtolAttitudeControl::Run()

// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}

Expand All @@ -414,9 +411,7 @@ VtolAttitudeControl::Run()
if (mc_att_sp_updated) {
// reinitialize the setpoint while not armed to make sure no value from the last mode or flight is still kept
if (!_v_control_mode.flag_armed) {
Quatf().copyTo(_mc_virtual_att_sp.q_d);
Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
Quatf().copyTo(_v_att_sp.q_d);
Vector3f().copyTo(_v_att_sp.thrust_body);
}
}
Expand Down