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Copter: surface_tracking takes current_alt_target param

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Randy Mackay 2014-02-03 16:22:59 +09:00 committed by Andrew Tridgell
parent 989a03a643
commit 90c5fe4be4
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Attitude.pde
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@ -209,7 +209,7 @@ static int16_t get_pilot_desired_climb_rate(int16_t throttle_control)
// get_throttle_surface_tracking - hold copter at the desired distance above the ground // get_throttle_surface_tracking - hold copter at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller // returns climb rate (in cm/s) which should be passed to the position controller
static float get_throttle_surface_tracking(int16_t target_rate, float dt) static float get_throttle_surface_tracking(int16_t target_rate, float current_alt_target, float dt)
{ {
static uint32_t last_call_ms = 0; static uint32_t last_call_ms = 0;
float distance_error; float distance_error;
@ -219,7 +219,7 @@ static float get_throttle_surface_tracking(int16_t target_rate, float dt)
// reset target altitude if this controller has just been engaged // reset target altitude if this controller has just been engaged
if( now - last_call_ms > 200 ) { if( now - last_call_ms > 200 ) {
target_sonar_alt = sonar_alt + controller_desired_alt - current_loc.alt; target_sonar_alt = sonar_alt + current_alt_target - current_loc.alt;
} }
last_call_ms = now; last_call_ms = now;