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https://github.com/ArduPilot/ardupilot
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AC_PosControl_Sub: replace velocity pi with local pid
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3a73ff1e2e
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libraries/AC_AttitudeControl
@ -3,8 +3,8 @@
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AC_PosControl_Sub::AC_PosControl_Sub(const AP_AHRS_View& ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control,
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AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z,
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AC_P& p_pos_xy, AC_PI_2D& pi_vel_xy) :
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AC_PosControl(ahrs, inav, motors, attitude_control, p_pos_z, p_vel_z, pid_accel_z, p_pos_xy, pi_vel_xy),
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AC_P& p_pos_xy) :
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AC_PosControl(ahrs, inav, motors, attitude_control, p_pos_z, p_vel_z, pid_accel_z, p_pos_xy),
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_alt_max(0.0f),
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_alt_min(0.0f)
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{}
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@ -7,7 +7,7 @@ public:
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AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control,
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AC_P& p_pos_z, AC_P& p_vel_z, AC_PID& pid_accel_z,
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AC_P& p_pos_xy, AC_PI_2D& pi_vel_xy);
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AC_P& p_pos_xy);
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/// set_alt_max - sets maximum altitude above the ekf origin in cm
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/// only enforced when set_alt_target_from_climb_rate is used
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