fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 10:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: use 0.5 of acceleration for auto

Browse Source
This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 807d45c99c
commit 3538f028b4
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
View File
@@ -1552,7 +1552,7 @@ void MulticopterPositionControl::control_auto(float dt)
/* we want to accelerate */
float acc_z = (vel_sp_z - fabsf(_vel_sp(2))) / dt;
float acc_max = (flying_upward) ? _acceleration_z_max_up.get() : _acceleration_z_max_down.get();
float acc_max = (flying_upward) ? (_acceleration_z_max_up.get() * 0.5f) : (_acceleration_z_max_down.get() * 0.5f);
if (acc_z > acc_max) {
vel_sp_z = _acceleration_z_max_up.get() * dt + fabsf(_vel_sp(2));