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adjust some limits to prevent divide-by-zero

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David Jablonski
2021-03-05 10:42:19 +01:00
committed by Mathieu Bresciani
parent 9f6c882d2a
commit 5233737a86
3 changed files with 14 additions and 8 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+4 -3
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@@ -39,6 +39,7 @@
#pragma once
#include <lib/mathlib/mathlib.h>
#include <matrix/matrix/math.hpp>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -114,9 +115,9 @@ public:
/**
* Set the normalized hover thrust
* @param thrust [0,1] with which the vehicle hovers not acelerating down or up with level orientation
* @param thrust [0.1, 0.9] with which the vehicle hovers not acelerating down or up with level orientation
*/
void setHoverThrust(const float hover_thrust) { _hover_thrust = hover_thrust; }
void setHoverThrust(const float hover_thrust) { _hover_thrust = math::constrain(hover_thrust, 0.1f, 0.9f); }
/**
* Update the hover thrust without immediately affecting the output
@@ -192,7 +193,7 @@ private:
float _lim_thr_max{}; ///< Maximum collective thrust allowed as output [-1,0] e.g. -0.1
float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have
float _hover_thrust{}; ///< Thrust [0,1] with which the vehicle hovers not accelerating down or up with level orientation
float _hover_thrust{}; ///< Thrust [0.1, 0.9] with which the vehicle hovers not accelerating down or up with level orientation
// States
matrix::Vector3f _pos; /**< current position */