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Revise GotoControl

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This commit is contained in:
Matthias Grob
2023-11-22 16:54:05 +01:00
parent 14b8afe972
commit 439d6c61e0
3 changed files with 93 additions and 106 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+2 -2
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@@ -386,7 +386,7 @@ void MulticopterPositionControl::Run()
_goto_control.resetHeadingSmoother(states.yaw);
}
const GotoControl::VehicleConstraints vehicle_constraints = {
const GotoControl::GotoConstraints goto_constraints = {
_param_mpc_xy_cruise.get(),
_param_mpc_z_v_auto_dn.get(),
_param_mpc_z_v_auto_up.get(),
@@ -398,7 +398,7 @@ void MulticopterPositionControl::Run()
_param_mpc_yawaauto_max.get()
};
_goto_control.setVehicleConstraints(vehicle_constraints);
_goto_control.setGotoConstraints(goto_constraints);
_goto_control.setMaxAllowedHorizontalPositionError(_param_mpc_xy_err_max.get());
_goto_control.update(dt, states.position, states.yaw, _goto_setpoint, _setpoint);