From b0c58f6e4fe779dc08b2f8241bf8aaf083bc8a26 Mon Sep 17 00:00:00 2001
From: David Wehr <dawehr@iastate.edu>
Date: Fri, 21 Apr 2017 21:59:18 -0500
Subject: [PATCH] Reverting first setpoint for autonomous back to current
position. Was swtiched to (0, 0) for optical flow.
---
quad/src/quad_app/control_algorithm.c | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 69729052e..624c0642a 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -354,8 +354,8 @@ int control_algorithm_init(parameter_t * ps)
// also reset the previous error and accumulated error from the position PIDs
if((cur_fm_switch == AUTO_FLIGHT_MODE) && (user_defined_struct->engaging_auto == 2))
{
- graph_set_param_val(graph, ps->x_set, CONST_SET, 0);
- graph_set_param_val(graph, ps->y_set, CONST_SET, 0);
+ graph_set_param_val(graph, ps->x_set, CONST_SET, sensor_struct->currentQuadPosition.x_pos);
+ graph_set_param_val(graph, ps->y_set, CONST_SET, sensor_struct->currentQuadPosition.y_pos);
graph_set_param_val(graph, ps->alt_set, CONST_SET, sensor_struct->currentQuadPosition.alt_pos);
graph_set_param_val(graph, ps->yaw_set, CONST_SET, sensor_struct->currentQuadPosition.yaw);
--
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