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AC_PosControl: add clear_desired_velocity_ff_z method

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Leonard Hall 2017-04-27 15:58:13 +09:00 committed by Randy Mackay
parent aab27d8d0e
commit 6e92f74ca0
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -220,6 +220,9 @@ public:
/// set_desired_velocity_z - sets desired velocity in cm/s in z axis /// set_desired_velocity_z - sets desired velocity in cm/s in z axis
void set_desired_velocity_z(float vel_z_cms) {_vel_desired.z = vel_z_cms;} void set_desired_velocity_z(float vel_z_cms) {_vel_desired.z = vel_z_cms;}
// clear desired velocity feed-forward in z axis
void clear_desired_velocity_ff_z() { _flags.use_desvel_ff_z = false; }
/// set_desired_velocity_xy - sets desired velocity in cm/s in lat and lon directions /// set_desired_velocity_xy - sets desired velocity in cm/s in lat and lon directions
/// when update_xy_controller is next called the position target is moved based on the desired velocity and /// when update_xy_controller is next called the position target is moved based on the desired velocity and
/// the desired velocities are fed forward into the rate_to_accel step /// the desired velocities are fed forward into the rate_to_accel step