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FlightTaskOrbit: Fix vertical speed limit

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This commit is contained in:
Matthias Grob
2022-01-25 11:45:31 +01:00
parent 38de07186d
commit d73d8f390b
2 changed files with 1 additions and 2 deletions
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src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+1 -1
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@@ -252,9 +252,9 @@ void FlightTaskOrbit::_updateTrajectoryBoundaries()
_position_smoothing.setMaxJerk({max_jerk, max_jerk, max_jerk}); // TODO : Should be computed using heading
_altitude_velocity_smoothing.setMaxJerk(max_jerk);
if (_unsmoothed_velocity_setpoint(2) < 0.f) { // up
const float z_accel_constraint = _param_mpc_acc_up_max.get();
if (_velocity_setpoint(2) < 0.f) { // up
_position_smoothing.setMaxVelocityZ(_param_mpc_z_v_auto_up.get());
_position_smoothing.setMaxAccelerationZ(z_accel_constraint);
_altitude_velocity_smoothing.setMaxVel(_param_mpc_z_vel_max_up.get());