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Code Issues Releases Activity

Initialize altitude before switching to "running". Not doing this could

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cause glitches during the very first switch to AH.
This commit is contained in:
Werner Backes 2013-06-29 15:34:29 +02:00 committed by Alessio Morale
parent 1da68cda9a
commit 513d509865
1 changed files with 2 additions and 1 deletions
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3
flight/modules/AltitudeHold/altitudehold.c
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@ -125,6 +125,7 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
{
AltitudeHoldDesiredData altitudeHoldDesired;
StabilizationDesiredData stabilizationDesired;
AltHoldSmoothedData altHold;
float q[4], Rbe[3][3];
portTickType thisTime, lastUpdateTime;
@ -174,6 +175,7 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
switchThrottle = throttleIntegral;
error = 0;
velocity = 0;
altitudeHoldDesired.Altitude = altHold.Altitude;
running = true;
} else if (!altitudeHoldFlightMode) {
running = false;
@ -334,7 +336,6 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
V[3][3] = -K[3][0] * P[2][3] - P[3][3] * (K[3][0] - 1.0f);
}
AltHoldSmoothedData altHold;
AltHoldSmoothedGet(&altHold);
altHold.Altitude = z[0];
altHold.Velocity = z[1];