fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 00:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2 -1
View File
@@ -643,7 +643,8 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().vxy_max = INFINITY;
_pub_lpos.get().vz_max = INFINITY;
_pub_lpos.get().hagl_min = INFINITY;
_pub_lpos.get().hagl_max = INFINITY;
_pub_lpos.get().hagl_max_z = INFINITY;
_pub_lpos.get().hagl_max_xy = INFINITY;
_pub_lpos.get().timestamp = hrt_absolute_time();;
_pub_lpos.update();
}