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Copter: integrate surface_tracking to control_althold

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This commit is contained in:
Randy Mackay 2014-02-03 16:23:42 +09:00 committed by Andrew Tridgell
parent 3824f528ea
commit 22280e1c57
5 changed files with 5 additions and 5 deletions
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2
ArduCopter/control_althold.pde
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@ -62,7 +62,7 @@ static void althold_run()
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller

2
ArduCopter/control_circle.pde
View File

@ -64,7 +64,7 @@ static void circle_run()
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

2
ArduCopter/control_loiter.pde
View File

@ -74,7 +74,7 @@ static void loiter_run()
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller

2
ArduCopter/control_ofloiter.pde
View File

@ -71,7 +71,7 @@ static void ofloiter_run()
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate,G_Dt);
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller

2
ArduCopter/control_sport.pde
View File

@ -57,7 +57,7 @@ static void sport_run()
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, G_Dt);
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller