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AC_PosControl_Sub: update for new position controller changes

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Leonard Hall 2020-01-04 16:46:56 +10:30 committed by Randy Mackay
parent cb0d37586e
commit 6a8ba6f329
1 changed files with 1 additions and 5 deletions
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6
libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
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@ -33,8 +33,7 @@ void AC_PosControl_Sub::set_alt_target_from_climb_rate(float climb_rate_cms, flo
// do not use z-axis desired velocity feed forward
// vel_desired set to desired climb rate for reporting and land-detector
_flags.use_desvel_ff_z = false;
_vel_desired.z = climb_rate_cms;
_vel_desired.z = 0.0f;
}
/// set_alt_target_from_climb_rate_ff - adjusts target up or down using a climb rate in cm/s using feed-forward
@ -64,7 +63,6 @@ void AC_PosControl_Sub::set_alt_target_from_climb_rate_ff(float climb_rate_cms,
float vel_change_limit = _accel_last_z_cms * dt;
_vel_desired.z = constrain_float(climb_rate_cms, _vel_desired.z-vel_change_limit, _vel_desired.z+vel_change_limit);
_flags.use_desvel_ff_z = true;
// adjust desired alt if motors have not hit their limits
// To-Do: add check of _limit.pos_down?
@ -94,9 +92,7 @@ void AC_PosControl_Sub::relax_alt_hold_controllers()
{
_pos_target.z = _inav.get_altitude();
_vel_desired.z = 0.0f;
_flags.use_desvel_ff_z = false;
_vel_target.z = _inav.get_velocity_z();
_vel_last.z = _inav.get_velocity_z();
_accel_desired.z = 0.0f;
_accel_last_z_cms = 0.0f;
_flags.reset_rate_to_accel_z = true;