att_control: remove resetting the attitude setpoint

since the position controller publishes them again already when disarmed.
PX4 · Oct 29, 2019 · 85a268d · 85a268d
1 parent ed93e3a
commit 85a268d
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diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -350,12 +350,6 @@ MulticopterAttitudeControl::control_attitude()
 {
 	_v_att_sp_sub.update(&_v_att_sp);
 
-	// 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(_v_att_sp.q_d);
-		Vector3f().copyTo(_v_att_sp.thrust_body);
-	}
-
 	// physical thrust axis is the negative of body z axis
 	_thrust_sp = -_v_att_sp.thrust_body[2];
 

diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -389,13 +389,6 @@ VtolAttitudeControl::Run()
 			_fw_virtual_att_sp_sub.update(&_fw_virtual_att_sp);
 
 			if (mc_att_sp_updated || fw_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) {
-					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Vector3f().copyTo(_v_att_sp.thrust_body);
-				}
-
 				_vtol_type->update_transition_state();
 				_v_att_sp_pub.publish(_v_att_sp);
 			}
@@ -408,14 +401,6 @@ VtolAttitudeControl::Run()
 			_vtol_vehicle_status.vtol_in_trans_mode = false;
 			_vtol_vehicle_status.in_transition_to_fw = false;
 
-			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) {
-					Vector3f().copyTo(_mc_virtual_att_sp.thrust_body);
-					Vector3f().copyTo(_v_att_sp.thrust_body);
-				}
-			}
-
 			_vtol_type->update_mc_state();
 			_v_att_sp_pub.publish(_v_att_sp);