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AC_AttitudeControl: AC_PosControl: limit initial acceleration

This commit is contained in:
Leonard Hall 2021-08-23 09:34:33 +09:30 committed by Andrew Tridgell
parent 1c2655f565
commit 052524728b
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -514,8 +514,8 @@ void AC_PosControl::init_xy()
const Vector3f &curr_accel = _ahrs.get_accel_ef_blended() * 100.0f; const Vector3f &curr_accel = _ahrs.get_accel_ef_blended() * 100.0f;
_accel_desired.x = curr_accel.x; _accel_desired.xy() = curr_accel.xy();
_accel_desired.y = curr_accel.y; _accel_desired.xy().limit_length(_accel_max_xy_cmss);
lean_angles_to_accel_xy(_accel_target.x, _accel_target.y); lean_angles_to_accel_xy(_accel_target.x, _accel_target.y);
@ -801,7 +801,7 @@ void AC_PosControl::init_z()
_pid_vel_z.set_integrator(0.0f); _pid_vel_z.set_integrator(0.0f);
_accel_desired.z = constrain_float(-(curr_accel.z + GRAVITY_MSS) * 100.0f, -_accel_max_z_cmss, _accel_max_z_cmss); _accel_desired.z = constrain_float(-(curr_accel.z + GRAVITY_MSS) * 100.0f, -_accel_max_z_cmss, _accel_max_z_cmss);
_accel_target.z = -(curr_accel.z + GRAVITY_MSS) * 100.0f; _accel_target.z = _accel_desired.z;
_pid_accel_z.reset_filter(); _pid_accel_z.reset_filter();
// initialise vertical offsets // initialise vertical offsets