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AC_PosControl: Replace update_vel_controller_xy() with update_xy_controller()

This commit is contained in:
Rishabh 2020-03-30 19:03:28 +05:30 committed by Andrew Tridgell
parent 7e835d1037
commit 6a98ab569e
2 changed files with 1 additions and 39 deletions
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34
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -966,45 +966,13 @@ void AC_PosControl::init_vel_controller_xyz()
init_ekf_z_reset();
}
/// update_velocity_controller_xy - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xy()
{
// capture time since last iteration
const uint64_t now_us = AP_HAL::micros64();
float dt = (now_us - _last_update_xy_us) * 1.0e-6f;
// sanity check dt
if (dt >= 0.2f) {
dt = 0.0f;
}
// check for ekf xy position reset
check_for_ekf_xy_reset();
// check if xy leash needs to be recalculated
calc_leash_length_xy();
// apply desired velocity request to position target
// TODO: this will need to be removed and added to the calling function.
desired_vel_to_pos(dt);
// run position controller
run_xy_controller(dt);
// update xy update time
_last_update_xy_us = now_us;
}
/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xyz() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xyz()
{
update_vel_controller_xy();
update_xy_controller();
// update altitude target
set_alt_target_from_climb_rate_ff(_vel_desired.z, _dt, false);

6
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -263,12 +263,6 @@ public:
/// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller
void init_vel_controller_xyz();
/// update_velocity_controller_xy - run the XY velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void update_vel_controller_xy();
/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xyz() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller