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Saturate velocity command for mc_pos_control.

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James Goppert
2015-06-03 09:32:02 -04:00
committed by Lorenz Meier
parent 5727985678
commit adbccfaa1c
1 changed files with 7 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+7
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@@ -1032,7 +1032,14 @@ MulticopterPositionControl::task_main()
/* run position & altitude controllers, calculate velocity setpoint */
math::Vector<3> pos_err = _pos_sp - _pos;
/* make sure velocity setpoint is saturated */
_vel_sp = pos_err.emult(_params.pos_p) + _vel_ff;
for (int i=0; i<3; i++) {
if (_vel_sp(i) > _params.vel_max(i)) {
_vel_sp(i) = _params.vel_max(i);
} else if (_vel_sp(i) < -_params.vel_max(i))
_vel_sp(i) = -_params.vel_max(i);
}
if (!_control_mode.flag_control_altitude_enabled) {
_reset_alt_sp = true;