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Replacing SETPOINT_TYPE_VELOCITY use with velocity and position valid

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booleans in setpoint struct
This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 9993b24bf9
commit 6ff1b2d896
3 changed files with 21 additions and 19 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+12 -10
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@@ -1375,10 +1375,11 @@ MulticopterPositionControl::task_main()
_vel_sp(1) = (_pos_sp(1) - _pos(1)) * _params.pos_p(1);
}
// do not go slower than the follow target velocity when position tracking is active
// do not go slower than the follow target velocity when position tracking is active (set to valid)
if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
_pos_sp_triplet.current.velocity_valid) {
_pos_sp_triplet.current.velocity_valid &&
_pos_sp_triplet.current.position_valid) {
math::Vector<3> ft_vel(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy, 0);
@@ -1397,16 +1398,20 @@ MulticopterPositionControl::task_main()
_vel_sp(0) = fabs(ft_vel(0)) > fabs(_vel_sp(0)) ? ft_vel(0) : _vel_sp(0);
_vel_sp(1) = fabs(ft_vel(1)) > fabs(_vel_sp(1)) ? ft_vel(1) : _vel_sp(1);
}
// Ignore position control calculated vel set points
// track target using velocity only
} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET &&
_pos_sp_triplet.current.velocity_valid) {
if(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_VELOCITY &&
_pos_sp_triplet.current.velocity_valid) {
_vel_sp(0) = _pos_sp_triplet.current.vx;
_vel_sp(1) = _pos_sp_triplet.current.vy;
}
if (_run_alt_control) {
_vel_sp(2) = (_pos_sp(2) - _pos(2)) * _params.pos_p(2);
}
/* make sure velocity setpoint is saturated in xy*/
float vel_norm_xy = sqrtf(_vel_sp(0) * _vel_sp(0) + _vel_sp(1) * _vel_sp(1));
@@ -1417,11 +1422,8 @@ MulticopterPositionControl::task_main()
_vel_sp(1) = _vel_sp(1) * _params.vel_max(1) / vel_norm_xy;
}
if (_run_alt_control) {
_vel_sp(2) = (_pos_sp(2) - _pos(2)) * _params.pos_p(2);
}
/* make sure velocity setpoint is saturated in z*/
float vel_norm_z = sqrtf(_vel_sp(2) * _vel_sp(2));
if (vel_norm_z > _params.vel_max(2)) {