fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 10:37:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Position Controller - Saturate the controllers using static parameters. Handle saturations in the flight tasks only

Browse Source
This commit is contained in:
bresch
2019-02-06 16:44:12 +01:00
parent 4cace1bbe9
commit 3543071eb9
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+2 -2
View File
@@ -221,11 +221,11 @@ void PositionControl::_positionController()
// Constrain horizontal velocity by prioritizing the velocity component along the
// the desired position setpoint over the feed-forward term.
const Vector2f vel_sp_xy = ControlMath::constrainXY(Vector2f(vel_sp_position),
Vector2f(_vel_sp - vel_sp_position), _constraints.speed_xy);
Vector2f(_vel_sp - vel_sp_position), MPC_XY_VEL_MAX.get());
_vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1);
// Constrain velocity in z-direction.
_vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.speed_up, _constraints.speed_down);
_vel_sp(2) = math::constrain(_vel_sp(2), -MPC_Z_VEL_MAX_UP.get(), MPC_Z_VEL_MAX_DN.get());
}
void PositionControl::_velocityController(const float &dt)