Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Update use of input_vel_accel_z

This commit is contained in:
Leonard Hall 2022-12-15 22:14:58 +10:30 committed by Randy Mackay
parent 97a531a913
commit b6a59c0c13
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/mode_guided.cpp
View File

@ -778,7 +778,7 @@ void ModeGuided::accel_control_run()
auto_yaw.set_rate(0.0f); auto_yaw.set_rate(0.0f);
} }
pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy(), false); pos_control->input_vel_accel_xy(guided_vel_target_cms.xy(), guided_accel_target_cmss.xy(), false);
pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false, false); pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false);
} else { } else {
// update position controller with new target // update position controller with new target
pos_control->input_accel_xy(guided_accel_target_cmss); pos_control->input_accel_xy(guided_accel_target_cmss);
@ -865,7 +865,7 @@ void ModeGuided::velaccel_control_run()
// set position errors to zero // set position errors to zero
pos_control->stop_pos_xy_stabilisation(); pos_control->stop_pos_xy_stabilisation();
} }
pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false, false); pos_control->input_vel_accel_z(guided_vel_target_cms.z, guided_accel_target_cmss.z, false);
// call velocity controller which includes z axis controller // call velocity controller which includes z axis controller
pos_control->update_xy_controller(); pos_control->update_xy_controller();
@ -904,7 +904,7 @@ void ModeGuided::pause_control_run()
// set the vertical velocity and acceleration targets to zero // set the vertical velocity and acceleration targets to zero
float vel_z = 0.0; float vel_z = 0.0;
pos_control->input_vel_accel_z(vel_z, 0.0, false, false); pos_control->input_vel_accel_z(vel_z, 0.0, false);
// call velocity controller which includes z axis controller // call velocity controller which includes z axis controller
pos_control->update_xy_controller(); pos_control->update_xy_controller();