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AC_AttitudeControl: added set_limit_accel_xy() API

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for preventing integrator buildup
This commit is contained in:
Andrew Tridgell 2016-04-10 21:54:05 +10:00
parent ed2f26d7b8
commit d03a232659
1 changed files with 4 additions and 0 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -195,6 +195,10 @@ public:
void set_jerk_xy(float jerk_cmsss) { _jerk_cmsss = jerk_cmsss; } void set_jerk_xy(float jerk_cmsss) { _jerk_cmsss = jerk_cmsss; }
void set_jerk_xy_to_default() { _jerk_cmsss = POSCONTROL_JERK_LIMIT_CMSSS; } void set_jerk_xy_to_default() { _jerk_cmsss = POSCONTROL_JERK_LIMIT_CMSSS; }
/// set_limit_accel_xy - mark that accel has been limited
/// this prevents integrator buildup
void set_limit_accel_xy(void) { _limit.accel_xy = true; }
/// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration /// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration
/// should be called whenever the speed, acceleration or position kP is modified /// should be called whenever the speed, acceleration or position kP is modified
void calc_leash_length_xy(); void calc_leash_length_xy();