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AC_AttControl: allow enabling/disabling feedforward and accel limiting

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This commit is contained in:
Randy Mackay 2014-06-10 15:49:49 +09:00
parent a2f54fdf2c
commit 46f25c52a4
2 changed files with 24 additions and 0 deletions
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18
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -640,6 +640,24 @@ float AC_AttitudeControl::rate_bf_to_motor_yaw(float rate_target_cds)
// To-Do: allow logging of PIDs?
}
// accel_limiting - enable or disable accel limiting
void AC_AttitudeControl::accel_limiting(bool enable_limits)
{
if (enable_limits) {
// if enabling limits, reload from eeprom or set to defaults
if (_accel_rp_max == 0.0f) {
_accel_rp_max.load();
}
if (_accel_y_max == 0.0f) {
_accel_y_max.load();
}
} else {
// if disabling limits, set to zero
_accel_rp_max = 0.0f;
_accel_y_max = 0.0f;
}
hal.console->printf_P(PSTR("AccLim:%d"),(int)enable_limits);
}
//
// throttle functions

6
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -134,6 +134,12 @@ public:
void rate_bf_pitch_target(float rate_cds) { _rate_bf_target.y = rate_cds; }
void rate_bf_yaw_target(float rate_cds) { _rate_bf_target.z = rate_cds; }
// enable_bf_feedforward - enable or disable body-frame feed forward
void bf_feedforward(bool enable_or_disable) { _rate_bf_ff_enabled = enable_or_disable; }
// enable_bf_feedforward - enable or disable body-frame feed forward
void accel_limiting(bool enable_or_disable);
//
// throttle functions
//