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fw_pos_control_l1: limit max roll and pitch setpoints for manual modes

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-07-25 08:56:18 +02:00
committed by Andreas Antener
parent 8c8120e2fc
commit ec334f7c9b
1 changed files with 5 additions and 0 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+5
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@@ -2230,6 +2230,11 @@ FixedwingPositionControl::task_main()
_att_sp.roll_body += _parameters.rollsp_offset_rad;
_att_sp.pitch_body += _parameters.pitchsp_offset_rad;
if (_control_mode.flag_control_manual_enabled) {
_att_sp.roll_body = math::constrain(_att_sp.roll_body, -_parameters.man_roll_max_rad, _parameters.man_roll_max_rad);
_att_sp.pitch_body = math::constrain(_att_sp.pitch_body, -_parameters.man_pitch_max_rad, _parameters.man_pitch_max_rad);
}
/* lazily publish the setpoint only once available */
if (_attitude_sp_pub != nullptr) {
/* publish the attitude setpoint */