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Copter: Expand EKF speed limit public method to handle control limits

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priseborough 2014-11-16 12:42:56 +11:00 committed by Andrew Tridgell
parent 5b8265ad6f
commit 9e7709fa09
2 changed files with 3 additions and 1 deletions
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2
ArduCopter/ArduCopter.pde
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@ -321,6 +321,8 @@ static AP_OpticalFlow_PX4 optflow(ahrs);
#endif
// gnd speed limit required to observe optical flow sensor limits
static float ekfGndSpdLimit;
// scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
static float ekfNavVelGainScaler;
////////////////////////////////////////////////////////////////////////////////
// GCS selection

2
ArduCopter/flight_mode.pde
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@ -121,7 +121,7 @@ static bool set_mode(uint8_t mode)
static void update_flight_mode()
{
// Update EKF speed limit - used to limit speed when we are using optical flow
ekfGndSpdLimit = ahrs.getSpeedLimit();
ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
switch (control_mode) {
case ACRO:
#if FRAME_CONFIG == HELI_FRAME