Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 22:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Sub: remove unnecessary deadzone in control_althold

Browse Source
This commit is contained in:
Willian Galvani 2022-09-05 19:21:25 -03:00
parent 48435b57e4
commit b487a03750
1 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduSub/control_althold.cpp
View File

@ -107,14 +107,11 @@ void Sub::control_depth() {
float target_climb_rate_cm_s = get_pilot_desired_climb_rate(500 + g.pilot_speed_up * earth_frame_rc_inputs.z);
target_climb_rate_cm_s = constrain_float(target_climb_rate_cm_s, -get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_pos_target_z_from_climb_rate_cm(target_climb_rate_cm_s);
// desired_climb_rate returns 0 when within the deadzone.
//we allow full control to the pilot, but as soon as there's no input, we handle being at surface/bottom
if (fabsf(target_climb_rate_cm_s) < 0.05f) {
if (ap.at_surface) {
pos_control.set_pos_target_z_cm(MIN(pos_control.get_pos_target_z_cm(), g.surface_depth - 5.0f)); // set target to 5 cm below surface level
} else if (ap.at_bottom) {
pos_control.set_pos_target_z_cm(MAX(inertial_nav.get_altitude() + 10.0f, pos_control.get_pos_target_z_cm())); // set target to 10 cm above bottom
}
if (ap.at_surface) {
pos_control.set_alt_target_with_slew(MIN(pos_control.get_pos_target_z_cm(), g.surface_depth - 1.0f)); // set target to 1 cm below surface level
} else if (ap.at_bottom) {
pos_control.set_alt_target_with_slew(MAX(inertial_nav.get_altitude() + 10.0f, pos_control.get_pos_target_z_cm())); // set target to 10 cm above bottom
}
pos_control.update_z_controller();
// Read the output of the z controller and rotate it so it always points up