aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Sub: Let AC_PosControl handle z axis limiting at surface

Browse Source
This commit is contained in:
Jacob Walser 2016-11-23 23:19:07 -05:00 committed by Andrew Tridgell
parent 6682e93bf3
commit 26fd201672
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
ArduSub/Attitude.cpp
View File

@ -290,8 +290,13 @@ void Sub::set_accel_throttle_I_from_pilot_throttle(float pilot_throttle)
// updates position controller's maximum altitude using fence and EKF limits // updates position controller's maximum altitude using fence and EKF limits
void Sub::update_poscon_alt_max() void Sub::update_poscon_alt_max()
{ {
float min_alt_cm = 0.0f; // interpreted as no limit if left as zero // minimum altitude, ie. maximum depth
float max_alt_cm = 0.0f; // interpreted as no limit if left as zero
float min_alt_cm = 0.0;
// no limit if greater than 100, a limit is necessary,
// or the vehicle will try to fly out of the water
float max_alt_cm = g.surface_depth; // minimum depth
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// set fence altitude limit in position controller // set fence altitude limit in position controller