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ramp up jump velocity instead doing a huge step

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This commit is contained in:
Andreas Antener 2015-12-22 12:20:11 +01:00 committed by Lorenz Meier
parent 98bec0e175
commit b5f3c2d30d
1 changed files with 4 additions and 2 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -1365,8 +1365,10 @@ MulticopterPositionControl::task_main()
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
if (!_takeoff_jumped) {
/* do a quick jump until we shoot over takeoff speed */
_vel_sp(2) = -_params.tko_jmpspd;
/* do a quick jump (ramp vel sp up in 1/2sec) until we shoot over takeoff speed */
float accel = _vel_sp_prev(2) - _params.tko_jmpspd;
float tmp = _vel_sp_prev(2) + accel * dt * 2.0f;
_vel_sp(2) = math::max(tmp, -_params.tko_jmpspd);
if (_vel(2) < -_params.tko_speed) {
_takeoff_jumped = true;