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Sub: Fix throttle value in some calls to

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pos_control.relax_alt_hold_controllers
This commit is contained in:
Jacob Walser 2017-04-14 14:16:12 -04:00
parent a83e1ad971
commit 7a6318434f
2 changed files with 3 additions and 3 deletions
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4
ArduSub/control_auto.cpp
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@ -649,7 +649,7 @@ bool Sub::auto_terrain_recover_start()
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
// Reset z axis controller // Reset z axis controller
pos_control.relax_alt_hold_controllers(0.0); pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
@ -699,7 +699,7 @@ void Sub::auto_terrain_recover_run()
// Start timer as soon as rangefinder is healthy // Start timer as soon as rangefinder is healthy
if (rangefinder_recovery_ms == 0) { if (rangefinder_recovery_ms == 0) {
rangefinder_recovery_ms = AP_HAL::millis(); rangefinder_recovery_ms = AP_HAL::millis();
pos_control.relax_alt_hold_controllers(0.0); // Reset alt hold targets pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // Reset alt hold targets
} }
// 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled // 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled

2
ArduSub/control_guided.cpp
View File

@ -462,7 +462,7 @@ void Sub::guided_angle_control_run()
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed // Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt); attitude_control.set_throttle_out_unstabilized(0.0f,true,g.throttle_filt);
pos_control.relax_alt_hold_controllers(0.0f); pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
return; return;
} }