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AC_PosControl: freeze feed forward for alt control in Auto

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lthall 2014-06-01 11:18:43 +09:30 committed by Randy Mackay
parent 922026c15c
commit 8bbce7e658
3 changed files with 9 additions and 0 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -315,6 +315,7 @@ void AC_PosControl::rate_to_accel_z()
if(!_limit.freeze_ff_z) {
_accel_feedforward.z = (_vel_target.z - _vel_last.z)/_dt;
} else {
// stop the feed forward being calculated during a known discontinuity
_limit.freeze_ff_z = false;
}
} else {
@ -701,6 +702,7 @@ void AC_PosControl::rate_to_accel_xy(float dt)
_accel_feedforward.x = (_vel_target.x - _vel_last.x)/dt;
_accel_feedforward.y = (_vel_target.y - _vel_last.y)/dt;
} else {
// stop the feed forward being calculated during a known discontinuity
_limit.freeze_ff_xy = false;
}
} else {

6
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -179,6 +179,12 @@ public:
/// trigger_xy - used to notify the position controller than an update has been made to the position or desired velocity so that the position controller will run as soon as possible after the update
void trigger_xy() { _flags.force_recalc_xy = true; }
/// freeze_ff_z - used to stop the feed forward being calculated during a known discontinuity
void freeze_ff_z() { _limit.freeze_ff_z = true; }
/// freeze_ff_xy - used to stop the feed forward being calculated during a known discontinuity
void freeze_ff_xy() { _limit.freeze_ff_xy = true; }
// is_active_xy - returns true if the xy position controller has been run very recently
bool is_active_xy() const;

1
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -560,6 +560,7 @@ void AC_WPNav::update_wpnav()
// advance the target if necessary
advance_wp_target_along_track(dt);
_pos_control.trigger_xy();
_pos_control.freeze_ff_z();
}else{
// run horizontal position controller
_pos_control.update_xy_controller(false);