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Manual Traj - Avoid velocity jumps due to a modification of the constraints

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bresch
2019-02-13 20:56:57 +01:00
parent 57eef6b170
commit f1262cbe84
1 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+2 -2
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@@ -95,11 +95,11 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
if (_velocity_setpoint(2) < 0.f) { // up if (_velocity_setpoint(2) < 0.f) { // up
_smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get()); _smoothing[2].setMaxAccel(MPC_ACC_UP_MAX.get());
_smoothing[2].setMaxVel(_constraints.speed_up); _smoothing[2].setMaxVel(MPC_Z_VEL_MAX_UP.get());
} else { // down } else { // down
_smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get()); _smoothing[2].setMaxAccel(MPC_ACC_DOWN_MAX.get());
_smoothing[2].setMaxVel(_constraints.speed_down); _smoothing[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
} }
Vector2f vel_xy_sp = Vector2f(&_velocity_setpoint(0)); Vector2f vel_xy_sp = Vector2f(&_velocity_setpoint(0));