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Copter: flowhold descending bug fix

This commit is contained in:
Randy Mackay 2018-10-26 16:01:56 +09:00
parent 66ce71b55b
commit 9747a2ec47
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/mode_flowhold.cpp
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@ -89,7 +89,7 @@ bool Copter::ModeFlowHold::init(bool ignore_checks)
} }
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); copter.pos_control->set_speed_z(-get_pilot_speed_dn(), copter.g.pilot_speed_up);
copter.pos_control->set_accel_z(copter.g.pilot_accel_z); copter.pos_control->set_accel_z(copter.g.pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
@ -223,7 +223,7 @@ void Copter::ModeFlowHold::run()
update_height_estimate(); update_height_estimate();
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); copter.pos_control->set_speed_z(-get_pilot_speed_dn(), copter.g.pilot_speed_up);
copter.pos_control->set_accel_z(copter.g.pilot_accel_z); copter.pos_control->set_accel_z(copter.g.pilot_accel_z);
// apply SIMPLE mode transform to pilot inputs // apply SIMPLE mode transform to pilot inputs
@ -236,7 +236,7 @@ void Copter::ModeFlowHold::run()
// get pilot desired climb rate // get pilot desired climb rate
float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()); float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
target_climb_rate = constrain_float(target_climb_rate, -copter.g2.pilot_speed_dn, copter.g.pilot_speed_up); target_climb_rate = constrain_float(target_climb_rate, -get_pilot_speed_dn(), copter.g.pilot_speed_up);
// get pilot's desired yaw rate // get pilot's desired yaw rate
float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in()); float target_yaw_rate = copter.get_pilot_desired_yaw_rate(copter.channel_yaw->get_control_in());