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Fix max-hagl restriction to position/altitude control (#23667)

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* fix max-hagl restriction to position/altitude control

* max hagl vel restriction in ManAcc position mode

* use interpolate func, change naming

* simplyfied vertical vel limitation

* move velocity-constraint adjustment to StickAccelXY
This commit is contained in:
Marco Hauswirth
2025-01-20 15:50:21 +01:00
committed by GitHub
parent 0d22905558
commit 4a5aa1e947
15 changed files with 90 additions and 46 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -2
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@@ -208,8 +208,9 @@ public:
// vxy_max : Maximum ground relative horizontal speed (meters/sec). NaN when limiting is not needed.
// vz_max : Maximum ground relative vertical speed (meters/sec). NaN when limiting is not needed.
// hagl_min : Minimum height above ground (meters). NaN when limiting is not needed.
// hagl_max : Maximum height above ground (meters). NaN when limiting is not needed.
void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) const;
// hagl_max_z : Maximum height above ground for vertical altitude control (meters). NaN when limiting is not needed.
// hagl_max_xy : Maximum height above ground for horizontal position control (meters). NaN when limiting is not needed.
void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max_z, float *hagl_max_xy) const;
void resetGyroBias();
void resetGyroBiasCov();