ardupilot/libraries/AC_AttitudeControl/AC_PosControl_Sub.h

31 lines
1.6 KiB
C
Raw Normal View History

#pragma once
#include "AC_PosControl.h"
2021-04-16 12:53:14 -03:00
#define POSCONTROL_JERK_RATIO 1.0f // Defines the time it takes to reach the requested acceleration
class AC_PosControl_Sub : public AC_PosControl {
public:
using AC_PosControl::AC_PosControl;
/// set_alt_max - sets maximum altitude above the ekf origin in cm
2021-04-16 12:53:14 -03:00
/// only enforced when set_pos_target_z_from_climb_rate_cm is used
/// set to zero to disable limit
void set_alt_max(float alt) { _alt_max = alt; }
/// set_alt_min - sets the minimum altitude (maximum depth) in cm
2021-04-16 12:53:14 -03:00
/// only enforced when set_pos_target_z_from_climb_rate_cm is used
/// set to zero to disable limit
void set_alt_min(float alt) { _alt_min = alt; }
/// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration.
2021-04-16 12:53:14 -03:00
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z.
/// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
void input_vel_accel_z(float &vel, float accel, bool force_descend, bool limit_output = true) override;
private:
float _alt_max; // max altitude - should be updated from the main code with altitude limit from fence
float _alt_min; // min altitude - should be updated from the main code with altitude limit from fence
};