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Copter: run guided velocity control at main loop rate

This commit is contained in:
Randy Mackay 2018-03-09 11:42:17 +09:00
parent 21abe1194e
commit d7ea8f073f
1 changed files with 12 additions and 16 deletions
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6
ArduCopter/mode_guided.cpp
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@ -536,8 +536,6 @@ void Copter::ModeGuided::posvel_control_run()
// calculate dt
float dt = pos_control->time_since_last_xy_update();
// update at poscontrol update rate
if (dt >= pos_control->get_dt_xy()) {
// sanity check dt
if (dt >= 0.2f) {
dt = 0.0f;
@ -550,10 +548,8 @@ void Copter::ModeGuided::posvel_control_run()
pos_control->set_pos_target(guided_pos_target_cm);
pos_control->set_desired_velocity_xy(guided_vel_target_cms.x, guided_vel_target_cms.y);
// run position controller
// run position controllers
pos_control->update_xy_controller(ekfNavVelGainScaler);
}
pos_control->update_z_controller();
// call attitude controller