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AC_WPNav: loiter limits lean angle for alt loss

This commit is contained in:
Leonard Hall 2015-06-28 16:17:17 +09:00 committed by Randy Mackay
parent cf5db31053
commit 5ab2a19173
2 changed files with 5 additions and 5 deletions
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2
libraries/AC_WPNav/AC_Circle.cpp
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@ -162,7 +162,7 @@ void AC_Circle::update()
}
// update position controller
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
}
}

8
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -328,7 +328,7 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
dt = 0.0f;
}
calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, true);
}
}
@ -363,7 +363,7 @@ void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
// send adjusted feed forward velocity back to position controller
_pos_control.set_desired_velocity_xy(0,0);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_LIMITED_AND_VEL_FF, ekfNavVelGainScaler, false);
}
}
@ -675,7 +675,7 @@ void AC_WPNav::update_wpnav()
}
_pos_control.freeze_ff_z();
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
check_wp_leash_length();
_wp_last_update = hal.scheduler->millis();
@ -890,7 +890,7 @@ void AC_WPNav::update_spline()
_pos_control.freeze_ff_z();
// run horizontal position controller
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
_wp_last_update = hal.scheduler->millis();
}