fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 00:20:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

PositionControl: make distinction for throttle minimum depending on mode

Browse Source
This commit is contained in:
Dennis Mannhart
2018-03-01 17:23:25 +01:00
committed by Lorenz Meier
parent 59087afac8
commit 7f68417d19
2 changed files with 11 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+7 -3
View File
@@ -65,7 +65,8 @@ PositionControl::PositionControl()
_VelMaxZup_h = param_find("MPC_Z_VEL_MAX_UP");
_ThrHover_h = param_find("MPC_THR_HOVER");
_ThrMax_h = param_find("MPC_THR_MAX");
_ThrMin_h = param_find("MPC_THR_MIN");
_ThrMinPosition_h = param_find("MPC_THR_MIN");
_ThrMinStab_h = param_find("MPC_MANTHR_MIN");
/* Set parameter the very first time. */
_setParams();
@@ -93,9 +94,11 @@ void PositionControl::updateSetpoint(const vehicle_local_position_setpoint_s &se
* controller and just return thrust.
*/
_skipController = false;
_ThrLimit[1] = _ThrMinPosition;
if (PX4_ISFINITE(setpoint.thrust[0]) && PX4_ISFINITE(setpoint.thrust[1]) && PX4_ISFINITE(setpoint.thrust[2])) {
_skipController = true;
_ThrLimit[1] = _ThrMinStab;
_pos_sp.zero();
_vel_sp.zero();
_acc_sp.zero();
@@ -333,6 +336,7 @@ void PositionControl::_setParams()
param_get(_VelMaxZdown_h, &_VelMaxZ.down);
param_get(_ThrHover_h, &_ThrHover);
param_get(_ThrMax_h, &_ThrustLimit.max);
param_get(_ThrMin_h, &_ThrustLimit.min);
param_get(_ThrMax_h, &_ThrLimit[0]);
param_get(_ThrMinPosition_h, &_ThrMinPosition);
param_get(_ThrMinStab_h, &_ThrMinStab);
}