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Code Issues Releases Activity

Switch order of some commands to make sure it loads the correct hover throttle

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This commit is contained in:
James Cotton 2012-02-08 20:47:10 -06:00
parent ab41bae071
commit 80d602ef7b
1 changed files with 6 additions and 2 deletions
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8
flight/Modules/AltitudeHold/altitudehold.c
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@ -108,6 +108,8 @@ float decay;
float velocity_decay; float velocity_decay;
bool running = false; bool running = false;
float error; float error;
float switchThrottle;
float smoothed_altitude;
/** /**
* Module thread, should not return. * Module thread, should not return.
@ -191,12 +193,14 @@ static void altitudeHoldTask(void *parameters)
FlightStatusGet(&flightStatus); FlightStatusGet(&flightStatus);
if(flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD && !running) { if(flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD && !running) {
BaroAltitudeConnectQueue(queue);
// Copy the current throttle as a starting point for integral // Copy the current throttle as a starting point for integral
StabilizationDesiredThrottleGet(&throttleIntegral); StabilizationDesiredThrottleGet(&throttleIntegral);
BaroAltitudeAltitudeGet(&lastAltitude); switchThrottle = throttleIntegral;
error = 0; error = 0;
velocity = 0;
running = true; running = true;
BaroAltitudeAltitudeGet(&lastAltitude);
BaroAltitudeConnectQueue(queue);
} }
} else if (ev.obj == AltitudeHoldDesiredHandle()) { } else if (ev.obj == AltitudeHoldDesiredHandle()) {