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Fix takeoff overshoot (issue #319).

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Chris Lovett
2017-04-17 14:35:16 +02:00
committed by Lorenz Meier
parent 18293875b7
commit 91d2ad17b7
1 changed files with 2 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -1230,7 +1230,8 @@ MulticopterPositionControl::control_non_manual(float dt)
} else {
// copter has reached our takeoff speed. split the thrust setpoint up
// into an integral part and into a P part
_thrust_int(2) = _takeoff_thrust_sp - _params.vel_p(2) * fabsf(_vel(2));
// remembering to remove _params.thr_hover which is added later as a feed-forward in control_position.
_thrust_int(2) = _takeoff_thrust_sp - _params.vel_p(2) * fabsf(_vel(2)) - _params.thr_hover;
_thrust_int(2) = -math::constrain(_thrust_int(2), _params.thr_min, _params.thr_max);
_vel_sp_prev(2) = -_params.tko_speed;
_takeoff_jumped = true;