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AC_PosControl: set_speed_z accepts positive descent speeds

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This commit is contained in:
Randy Mackay 2014-04-30 11:14:48 +09:00
parent 466e9db1f9
commit 9f63de9b59
2 changed files with 4 additions and 2 deletions
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3
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -77,6 +77,9 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
/// speed_down should be a negative number /// speed_down should be a negative number
void AC_PosControl::set_speed_z(float speed_down, float speed_up) void AC_PosControl::set_speed_z(float speed_down, float speed_up)
{ {
// ensure speed_down is always negative
speed_down = -fabs(speed_down);
if ((fabs(_speed_down_cms-speed_down) > 1.0f) || (fabs(_speed_up_cms-speed_up) > 1.0f)) { if ((fabs(_speed_down_cms-speed_down) > 1.0f) || (fabs(_speed_up_cms-speed_up) > 1.0f)) {
_speed_down_cms = speed_down; _speed_down_cms = speed_down;
_speed_up_cms = speed_up; _speed_up_cms = speed_up;

3
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -62,8 +62,7 @@ public:
void set_alt_max(float alt) { _alt_max = alt; } void set_alt_max(float alt) { _alt_max = alt; }
/// set_speed_z - sets maximum climb and descent rates /// set_speed_z - sets maximum climb and descent rates
/// To-Do: call this in the main code as part of flight mode initialisation /// speed_down can be positive or negative but will always be interpreted as a descent speed
/// speed_down should be a negative number
/// leash length will be recalculated the next time update_z_controller() is called /// leash length will be recalculated the next time update_z_controller() is called
void set_speed_z(float speed_down, float speed_up); void set_speed_z(float speed_down, float speed_up);