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AP_TECS: added set_pitch_max_limit() API

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This commit is contained in:
Andrew Tridgell 2016-01-09 21:50:40 +11:00
parent acb4885989
commit 4f9927beda
2 changed files with 13 additions and 0 deletions
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5
libraries/AP_TECS/AP_TECS.cpp
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@ -828,6 +828,11 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
} else { } else {
_PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max_cd * 0.01f); _PITCHmaxf = MIN(_pitch_max, aparm.pitch_limit_max_cd * 0.01f);
} }
// apply temporary pitch limit and clear
_PITCHmaxf = constrain_float(_PITCHmaxf, -90, _pitch_max_limit);
_pitch_max_limit = 90;
if (_pitch_min >= 0) { if (_pitch_min >= 0) {
_PITCHminf = aparm.pitch_limit_min_cd * 0.01f; _PITCHminf = aparm.pitch_limit_min_cd * 0.01f;
} else { } else {

8
libraries/AP_TECS/AP_TECS.h
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@ -97,6 +97,11 @@ public:
_path_proportion = constrain_float(path_proportion, 0.0f, 1.0f); _path_proportion = constrain_float(path_proportion, 0.0f, 1.0f);
} }
// set pitch max limit in degrees
void set_pitch_max_limit(int8_t pitch_limit) {
_pitch_max_limit = pitch_limit;
}
// this supports the TECS_* user settable parameters // this supports the TECS_* user settable parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -155,6 +160,9 @@ private:
AP_Int8 _pitch_min; AP_Int8 _pitch_min;
AP_Int8 _land_pitch_max; AP_Int8 _land_pitch_max;
// temporary _pitch_max_limit. Cleared on each loop. Clear when >= 90
int8_t _pitch_max_limit = 90;
// current height estimate (above field elevation) // current height estimate (above field elevation)
float _height; float _height;