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AC_PosControl: throttle rate to simple P controller

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This commit is contained in:
Randy Mackay 2014-02-16 00:00:41 +09:00 committed by Andrew Tridgell
parent 00913ffe1b
commit 9130c88f15
2 changed files with 5 additions and 5 deletions
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6
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -22,14 +22,14 @@ const AP_Param::GroupInfo AC_PosControl::var_info[] PROGMEM = {
//
AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control,
AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
AC_P& p_alt_pos, AC_P& p_alt_rate, AC_PID& pid_alt_accel,
AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon) :
_ahrs(ahrs),
_inav(inav),
_motors(motors),
_attitude_control(attitude_control),
_p_alt_pos(p_alt_pos),
_pid_alt_rate(pid_alt_rate),
_p_alt_rate(p_alt_rate),
_pid_alt_accel(pid_alt_accel),
_p_pos_xy(p_pos_xy),
_pid_rate_lat(pid_rate_lat),
@ -285,7 +285,7 @@ void AC_PosControl::rate_to_accel_z(float vel_target_z)
_last_update_rate_ms = now;
// calculate p
p = _pid_alt_rate.kP() * _vel_error.z;
p = _p_alt_rate.kP() * _vel_error.z;
// consolidate and constrain target acceleration
desired_accel += p;

4
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -42,7 +42,7 @@ public:
/// Constructor
AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control,
AC_P& p_alt_pos, AC_PID& pid_alt_rate, AC_PID& pid_alt_accel,
AC_P& p_alt_pos, AC_P& p_alt_rate, AC_PID& pid_alt_accel,
AC_P& p_pos_xy, AC_PID& pid_rate_lat, AC_PID& pid_rate_lon);
///
@ -263,7 +263,7 @@ private:
// references to pid controllers and motors
AC_P& _p_alt_pos;
AC_PID& _pid_alt_rate;
AC_P& _p_alt_rate;
AC_PID& _pid_alt_accel;
AC_P& _p_pos_xy;
AC_PID& _pid_rate_lat;