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AC_AttControl: accel limiting for angular control only if feed forward enabled

This commit is contained in:
Leonard Hall 2015-03-04 21:16:42 +09:00 committed by Randy Mackay
parent d148039f65
commit 20de383084
1 changed files with 4 additions and 2 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -112,7 +112,8 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
// sanity check smoothing gain
smoothing_gain = constrain_float(smoothing_gain,1.0f,50.0f);
if (_accel_roll_max > 0.0f) {
// if accel limiting and feed forward enabled
if ((_accel_roll_max > 0.0f) && _rate_bf_ff_enabled) {
rate_change_limit = _accel_roll_max * _dt;
// calculate earth-frame feed forward roll rate using linear response when close to the target, sqrt response when we're further away
@ -134,7 +135,8 @@ void AC_AttitudeControl::angle_ef_roll_pitch_rate_ef_yaw_smooth(float roll_angle
// constrain earth-frame angle targets
_angle_ef_target.x = constrain_float(_angle_ef_target.x, -_aparm.angle_max, _aparm.angle_max);
if (_accel_pitch_max > 0.0f) {
// if accel limiting and feed forward enabled
if ((_accel_pitch_max > 0.0f) && _rate_bf_ff_enabled) {
rate_change_limit = _accel_pitch_max * _dt;
// calculate earth-frame feed forward pitch rate using linear response when close to the target, sqrt response when we're further away