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Copter: Remove avoidance completly from poshold

This commit is contained in:
Rishabh 2021-03-16 00:13:45 +05:30 committed by Randy Mackay
parent 711b497cc3
commit 618282e996
1 changed files with 5 additions and 10 deletions
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15
ArduCopter/mode_poshold.cpp
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@ -110,7 +110,7 @@ void ModePosHold::run()
pos_control->relax_alt_hold_controllers(0.0f); // forces throttle output to go to zero
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
loiter_nav->update();
loiter_nav->update(false);
// set poshold state to pilot override
roll_mode = RPMode::PILOT_OVERRIDE;
@ -135,7 +135,7 @@ void ModePosHold::run()
// init and update loiter although pilot is controlling lean angles
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
loiter_nav->update();
loiter_nav->update(false);
// set position controller targets
pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
@ -149,7 +149,7 @@ void ModePosHold::run()
case AltHold_Landed_Ground_Idle:
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
loiter_nav->update();
loiter_nav->update(false);
attitude_control->set_yaw_target_to_current_heading();
init_wind_comp_estimate();
FALLTHROUGH;
@ -166,11 +166,6 @@ void ModePosHold::run()
case AltHold_Flying:
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
#if AC_AVOID_ENABLED == ENABLED
// apply avoidance
copter.avoid.adjust_roll_pitch(target_roll, target_pitch, copter.aparm.angle_max);
#endif
// adjust climb rate using rangefinder
if (copter.rangefinder_alt_ok()) {
// if rangefinder is ok, use surface tracking
@ -424,7 +419,7 @@ void ModePosHold::run()
update_brake_angle_from_velocity(brake_pitch, -vel_fw);
// run loiter controller
loiter_nav->update();
loiter_nav->update(false);
// calculate final roll and pitch output by mixing loiter and brake controls
roll = mix_controls(brake_to_loiter_mix, brake_roll + wind_comp_roll, loiter_nav->get_roll());
@ -455,7 +450,7 @@ void ModePosHold::run()
case RPMode::LOITER:
// run loiter controller
loiter_nav->update();
loiter_nav->update(false);
// set roll angle based on loiter controller outputs
roll = loiter_nav->get_roll();