Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 21:48:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: Loiter and AltHold won't breach alt fence

Browse Source
This commit is contained in:
Randy Mackay 2013-08-15 16:06:27 +09:00
parent 04b84664e5
commit ac620e2140
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ArduCopter/Attitude.pde
View File

@ -1284,6 +1284,17 @@ get_throttle_rate_stabilized(int16_t target_rate)
// do not let target altitude get too far from current altitude
controller_desired_alt = constrain_float(controller_desired_alt,current_loc.alt-750,current_loc.alt+750);
#if AC_FENCE == ENABLED
// do not let target altitude be too close to the fence
// To-Do: add this to other altitude controllers
if((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
float alt_limit = fence.get_safe_alt() * 100.0f;
if (controller_desired_alt > alt_limit) {
controller_desired_alt = alt_limit;
}
}
#endif
// update target altitude for reporting purposes
set_target_alt_for_reporting(controller_desired_alt);