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Copter: Guided: make aircraft stop on accel time out

This commit is contained in:
Leonard Hall 2021-07-09 14:55:35 +09:30 committed by Randy Mackay
parent 0132b30d27
commit 991cc19f85
1 changed files with 14 additions and 11 deletions
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25
ArduCopter/mode_guided.cpp
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@ -615,23 +615,26 @@ void ModeGuided::accel_control_run()
// set velocity to zero and stop rotating if no updates received for 3 seconds // set velocity to zero and stop rotating if no updates received for 3 seconds
uint32_t tnow = millis(); uint32_t tnow = millis();
if (tnow - update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) { if (tnow - update_time_ms > GUIDED_POSVEL_TIMEOUT_MS) {
guided_vel_target_cms.zero();
guided_accel_target_cmss.zero(); guided_accel_target_cmss.zero();
if (auto_yaw.mode() == AUTO_YAW_RATE) { if (auto_yaw.mode() == AUTO_YAW_RATE) {
auto_yaw.set_rate(0.0f); auto_yaw.set_rate(0.0f);
} }
pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy());
pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false);
} else {
// update position controller with new target
pos_control->input_accel_xy(guided_accel_target_cmss);
if (!stabilizing_vel_xy()) {
// set position and velocity errors to zero
pos_control->stop_vel_xy_stabilisation();
} else if (!stabilizing_pos_xy()) {
// set position errors to zero
pos_control->stop_pos_xy_stabilisation();
}
pos_control->input_accel_z(guided_accel_target_cmss.z);
} }
// update position controller with new target
pos_control->input_accel_xy(guided_accel_target_cmss);
if (!stabilizing_vel_xy()) {
// set position and velocity errors to zero
pos_control->stop_vel_xy_stabilisation();
} else if (!stabilizing_pos_xy()) {
// set position errors to zero
pos_control->stop_pos_xy_stabilisation();
}
pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false);
// call velocity controller which includes z axis controller // call velocity controller which includes z axis controller
pos_control->update_xy_controller(); pos_control->update_xy_controller();
pos_control->update_z_controller(); pos_control->update_z_controller();