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Manual vel smooth - use speed_up and speed_down constraints to limit velocity target of the trajectory generator

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bresch
2019-02-06 16:28:58 +01:00
parent b7c2464cce
commit 4cace1bbe9
1 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+2 -2
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@@ -95,11 +95,11 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
if (_velocity_setpoint(2) < 0.f) { // up
_smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get());
_smoothing[2].setMaxVel(MPC_Z_VEL_MAX_UP.get());
_smoothing[2].setMaxVel(_constraints.speed_up);
} else { // down
_smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
_smoothing[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
_smoothing[2].setMaxVel(_constraints.speed_down);
}
float jerk[3] = {_jerk_max.get(), _jerk_max.get(), _jerk_max.get()};