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AC_AttitudeControl: added a update_vel_controller_xy() API

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this allows for just XY control of velocity for quadplanes
This commit is contained in:
Andrew Tridgell 2017-09-08 15:58:59 +10:00
parent baee71a5b4
commit 99aad41955
2 changed files with 19 additions and 3 deletions
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16
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -723,11 +723,11 @@ void AC_PosControl::init_vel_controller_xyz()
init_ekf_z_reset();
}
/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xyz() method
/// update_velocity_controller_xy - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
void AC_PosControl::update_vel_controller_xy(float ekfNavVelGainScaler)
{
// capture time since last iteration
uint32_t now = AP_HAL::millis();
@ -761,6 +761,16 @@ void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
// update xy update time
_last_update_xy_ms = now;
}
}
/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xyz() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void AC_PosControl::update_vel_controller_xyz(float ekfNavVelGainScaler)
{
update_vel_controller_xy(ekfNavVelGainScaler);
// update altitude target
set_alt_target_from_climb_rate_ff(_vel_desired.z, _dt, false);

6
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -267,6 +267,12 @@ public:
/// init_vel_controller_xyz - initialise the velocity controller - should be called once before the caller attempts to use the controller
void init_vel_controller_xyz();
/// update_velocity_controller_xy - run the XY velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xy() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller
/// throttle targets will be sent directly to the motors
void update_vel_controller_xy(float ekfNavVelGainScaler);
/// update_velocity_controller_xyz - run the velocity controller - should be called at 100hz or higher
/// velocity targets should we set using set_desired_velocity_xyz() method
/// callers should use get_roll() and get_pitch() methods and sent to the attitude controller