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FlightTaskManualAltitude: add deadzone for yaw

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Dennis Mannhart 2017-12-22 17:53:00 +01:00 committed by Beat Küng
parent cd1e01d5a0
commit ec4089cebf
2 changed files with 6 additions and 3 deletions
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8
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
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@ -34,7 +34,7 @@
/**
* @file FlightTaskManual.hpp
*
* Flight task for manual controlled altitude.
* Flight-task for manual controlled altitude.
*
*/
@ -51,7 +51,9 @@ FlightTaskManualAltitude::FlightTaskManualAltitude(control::SuperBlock *parent,
_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false),
_acc_max_up(parent, "MPC_ACC_UP_MAX", false),
_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false)
_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false),
_stick_deadzone(parent, "MPC_HOLD_DZ", false)
{}
bool FlightTaskManualAltitude::activate()
@ -76,7 +78,7 @@ void FlightTaskManualAltitude::scaleSticks()
void FlightTaskManualAltitude::updateHeadingSetpoints()
{
if (fabsf(_sticks(3)) < FLT_EPSILON) {
if (fabsf(_sticks(3)) < _stick_deadzone.get()) {
/* Want to hold yaw */
_yaw_rate_sp = NAN;
_yaw_sp = _yaw_sp_predicted;

1
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.hpp
View File

@ -65,6 +65,7 @@ protected:
control::BlockParamFloat _yaw_rate_scaling; /**< scaling factor from stick to yaw rate */
control::BlockParamFloat _acc_max_up; /**< maximum acceleration upward */
control::BlockParamFloat _acc_max_down; /**< maximum acceleration downward */
control::BlockParamFloat _stick_deadzone; /**< stick is considered zero if below deadzone */
virtual void updateSetpoints(); /**< updates all setpoints */
virtual void scaleSticks(); /**< scales sticks to velocity */