Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PosControl: update_xy_controller allows not resetting I term

Browse Source
This commit is contained in:
Ju1ien 2014-04-23 12:34:53 +09:00 committed by Randy Mackay
parent 5d0476e522
commit 6c71569775
2 changed files with 5 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -428,13 +428,15 @@ float AC_PosControl::get_distance_to_target() const
}
/// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
void AC_PosControl::update_xy_controller(bool use_desired_velocity)
void AC_PosControl::update_xy_controller(bool use_desired_velocity, bool reset_I)
{
// catch if we've just been started
uint32_t now = hal.scheduler->millis();
if ((now - _last_update_ms) >= 1000) {
_last_update_ms = now;
reset_I_xy();
if (reset_I) {
reset_I_xy();
}
_xy_step = 0;
}

2
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -165,7 +165,7 @@ public:
/// update_xy_controller - run the horizontal position controller - should be called at 100hz or higher
/// when use_desired_velocity is true the desired velocity (i.e. feed forward) is incorporated at the pos_to_rate step
void update_xy_controller(bool use_desired_velocity);
void update_xy_controller(bool use_desired_velocity, bool reset_I=true);
/// get_stopping_point_xy - calculates stopping point based on current position, velocity, vehicle acceleration
/// distance_max allows limiting distance to stopping point