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Sub: tweak althold again to stop violent shaking

This commit is contained in:
Willian Galvani 2022-06-02 15:39:25 -03:00
parent 14e6dcdc2f
commit 4f8fbf5360
1 changed files with 1 additions and 1 deletions
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2
ArduSub/control_althold.cpp
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@ -120,7 +120,7 @@ void Sub::control_depth() {
// Read the output of the z controller and rotate it so it always points up // Read the output of the z controller and rotate it so it always points up
Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, motors.get_throttle_in_bidirectional()); Vector3f throttle_vehicle_frame = ahrs.get_rotation_body_to_ned().transposed() * Vector3f(0, 0, motors.get_throttle_in_bidirectional());
//TODO: scale throttle with the ammount of thrusters in the given direction //TODO: scale throttle with the ammount of thrusters in the given direction
attitude_control.set_throttle_out(throttle_vehicle_frame.z + channel_throttle->norm_input(), false, g.throttle_filt); motors.set_throttle(throttle_vehicle_frame.z + channel_throttle->norm_input());
motors.set_forward(-throttle_vehicle_frame.x + channel_forward->norm_input()); motors.set_forward(-throttle_vehicle_frame.x + channel_forward->norm_input());
motors.set_lateral(-throttle_vehicle_frame.y + channel_lateral->norm_input()); motors.set_lateral(-throttle_vehicle_frame.y + channel_lateral->norm_input());
} }