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mc_pos_control: move position offset limiting to separate method

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This commit is contained in:
Anton Babushkin
2014-09-01 18:47:56 +02:00
parent 8ad1aa789b
commit 132c9180ea
1 changed files with 28 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+28
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@@ -221,6 +221,11 @@ private:
*/
void reset_alt_sp();
/**
* Check if position setpoint is too far from current position and adjust it if needed.
*/
void limit_pos_sp_offset();
/**
* Set position setpoint using manual control
*/
@@ -544,6 +549,29 @@ MulticopterPositionControl::reset_alt_sp()
}
}
void
MulticopterPositionControl::limit_pos_sp_offset()
{
math::Vector<3> pos_sp_offs;
pos_sp_offs.zero();
if (_control_mode.flag_control_position_enabled) {
pos_sp_offs(0) = (_pos_sp(0) - _pos(0)) / _params.sp_offs_max(0);
pos_sp_offs(1) = (_pos_sp(1) - _pos(1)) / _params.sp_offs_max(1);
}
if (_control_mode.flag_control_altitude_enabled) {
pos_sp_offs(2) = (_pos_sp(2) - _pos(2)) / _params.sp_offs_max(2);
}
float pos_sp_offs_norm = pos_sp_offs.length();
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
_pos_sp = _pos + pos_sp_offs.emult(_params.sp_offs_max);
}
}
void
MulticopterPositionControl::control_manual(float dt)
{