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

AP_Scripting: copter-wall-climber fix for climb rate limiting

This commit is contained in:
Randy Mackay 2020-10-26 16:09:44 +09:00
parent eab7c9520c
commit eb880a2657
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Scripting/examples/copter-wall-climber.lua
View File

@ -202,8 +202,11 @@ function update()
end
-- calculate acceleration limited climb rate
climb_rate = math.min(climb_rate_target, climb_rate + climb_rate_chg_max, climb_rate_max)
climb_rate = math.max(climb_rate_target, climb_rate - climb_rate_chg_max, -climb_rate_max)
if (climb_rate_target >= climb_rate) then
climb_rate = math.min(climb_rate_target, climb_rate + climb_rate_chg_max, climb_rate_max)
else
climb_rate = math.max(climb_rate_target, climb_rate - climb_rate_chg_max, -climb_rate_max)
end
end
end