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AR_AttitudeControl: disable limits when _ACCEL_MAX is zero

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Ammarf 2018-06-09 11:04:35 +09:00 committed by Randy Mackay
parent d8a7618e15
commit b614ca9b75
2 changed files with 9 additions and 2 deletions
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9
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -161,7 +161,7 @@ const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
// @Param: _DECEL_MAX
// @DisplayName: Speed control deceleration maximum in m/s/s
// @Description: Speed control and deceleration maximum in m/s/s. 0 to disable deceleration limiting
// @Description: Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration
// @Range: 0.0 10.0
// @Increment: 0.1
// @Units: m/s/s
@ -495,6 +495,13 @@ float AR_AttitudeControl::get_desired_speed() const
// get acceleration limited desired speed
float AR_AttitudeControl::get_desired_speed_accel_limited(float desired_speed, float dt) const
{
// return input value if no recent calls to speed controller
// apply no limiting when ATC_ACCEL_MAX is set to zero
const uint32_t now = AP_HAL::millis();
if ((_speed_last_ms == 0) || ((now - _speed_last_ms) > AR_ATTCONTROL_TIMEOUT_MS) || !is_positive(_throttle_accel_max)) {
return desired_speed;
}
// sanity check dt
dt = constrain_float(dt, 0.0f, 1.0f);

2
libraries/APM_Control/AR_AttitudeControl.h
View File

@ -120,7 +120,7 @@ private:
AC_PID _steer_rate_pid; // steering rate controller
AC_PID _throttle_speed_pid; // throttle speed controller
AP_Float _throttle_accel_max; // speed/throttle control acceleration (and deceleration) maximum in m/s/s. 0 to disable limits
AP_Float _throttle_decel_max; // speed/throttle control deceleration maximum in m/s/s. 0 to disable limits
AP_Float _throttle_decel_max; // speed/throttle control deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration
AP_Int8 _brake_enable; // speed control brake enable/disable. if set to 1 a reversed output to the motors to slow the vehicle.
AP_Float _stop_speed; // speed control stop speed. Motor outputs to zero once vehicle speed falls below this value
AP_Float _steer_accel_max; // steering angle acceleration max in deg/s/s