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Copter: guided calls velocity controller at 400hz 

velocity controller internally updates xy-axis at 50hz, z-axis at 400hz
This commit is contained in:
Randy Mackay 2015-11-17 15:51:25 +09:00
parent 339d49d34a
commit 4941b19e33
1 changed files with 2 additions and 13 deletions
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15
ArduCopter/control_guided.cpp
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@ -305,19 +305,8 @@ void Copter::guided_vel_control_run()
pos_control.set_desired_velocity(Vector3f(0,0,0));
}
// calculate dt
float dt = pos_control.time_since_last_xy_update();
// update at poscontrol update rate
if (dt >= pos_control.get_dt_xy()) {
// sanity check dt
if (dt >= 0.2f) {
dt = 0.0f;
}
// call velocity controller which includes z axis controller
pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
}
// call velocity controller which includes z axis controller
pos_control.update_vel_controller_xyz(ekfNavVelGainScaler);
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {