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AC_AttitudeControl: fixed one usage of zero accel limits

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in other places zero accel limit means no limit
This commit is contained in:
Andrew Tridgell 2015-12-06 06:42:19 +11:00 committed by Randy Mackay
parent 7479bc5734
commit 58f0abaf4c
1 changed files with 3 additions and 3 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -549,7 +549,7 @@ void AC_AttitudeControl::update_rate_bf_targets()
// stab roll calculation // stab roll calculation
// constrain roll rate request // constrain roll rate request
if (_flags.limit_angle_to_rate_request) { if (_flags.limit_angle_to_rate_request && _accel_roll_max > 0.0f) {
_rate_bf_target.x = sqrt_controller(_angle_bf_error.x, _p_angle_roll.kP(), constrain_float(_accel_roll_max/2.0f, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX)); _rate_bf_target.x = sqrt_controller(_angle_bf_error.x, _p_angle_roll.kP(), constrain_float(_accel_roll_max/2.0f, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX));
}else{ }else{
_rate_bf_target.x = _p_angle_roll.kP() * _angle_bf_error.x; _rate_bf_target.x = _p_angle_roll.kP() * _angle_bf_error.x;
@ -557,7 +557,7 @@ void AC_AttitudeControl::update_rate_bf_targets()
// stab pitch calculation // stab pitch calculation
// constrain pitch rate request // constrain pitch rate request
if (_flags.limit_angle_to_rate_request) { if (_flags.limit_angle_to_rate_request && _accel_pitch_max > 0.0f) {
_rate_bf_target.y = sqrt_controller(_angle_bf_error.y, _p_angle_pitch.kP(), constrain_float(_accel_pitch_max/2.0f, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX)); _rate_bf_target.y = sqrt_controller(_angle_bf_error.y, _p_angle_pitch.kP(), constrain_float(_accel_pitch_max/2.0f, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_RP_CONTROLLER_MAX));
}else{ }else{
_rate_bf_target.y = _p_angle_pitch.kP() * _angle_bf_error.y; _rate_bf_target.y = _p_angle_pitch.kP() * _angle_bf_error.y;
@ -565,7 +565,7 @@ void AC_AttitudeControl::update_rate_bf_targets()
// stab yaw calculation // stab yaw calculation
// constrain yaw rate request // constrain yaw rate request
if (_flags.limit_angle_to_rate_request) { if (_flags.limit_angle_to_rate_request && _accel_yaw_max > 0.0f) {
_rate_bf_target.z = sqrt_controller(_angle_bf_error.z, _p_angle_yaw.kP(), constrain_float(_accel_yaw_max/2.0f, AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX)); _rate_bf_target.z = sqrt_controller(_angle_bf_error.z, _p_angle_yaw.kP(), constrain_float(_accel_yaw_max/2.0f, AC_ATTITUDE_ACCEL_Y_CONTROLLER_MIN, AC_ATTITUDE_ACCEL_Y_CONTROLLER_MAX));
}else{ }else{
_rate_bf_target.z = _p_angle_yaw.kP() * _angle_bf_error.z; _rate_bf_target.z = _p_angle_yaw.kP() * _angle_bf_error.z;