fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 19:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Positioncontrol: limit velocity upwards during smooth takeoff

Browse Source
This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 0f4eb8e766
commit 60a9b45c88
2 changed files with 4 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+1 -1
View File
@@ -188,7 +188,7 @@ void PositionControl::_positionController()
_VelMaxXY); _VelMaxXY);
_vel_sp(0) = vel_sp_xy(0); _vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1); _vel_sp(1) = vel_sp_xy(1);
_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ.up, _VelMaxZ.down); _vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.vel_max_z_up, _VelMaxZ.down);
} }
void PositionControl::_velocityController(const float &dt) void PositionControl::_velocityController(const float &dt)
src/modules/mc_pos_control/PositionControl.hpp
+3
View File
@@ -54,6 +54,9 @@ namespace Controller
{ {
struct Constraints { struct Constraints {
float tilt_max; float tilt_max;
float vel_max_z_up;
float vel_max_z_down;
float vel_max_xy;
}; };
} }