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Copter: add z-axis obj avoidance to guided vel control

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added code to adjust z velocity using avoidance
This commit is contained in:
Sharvashish Das 2017-11-22 20:19:55 +05:30 committed by Randy Mackay
parent 988e4290dd
commit 395a4ad4ce
1 changed files with 2 additions and 5 deletions
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7
ArduCopter/control_guided.cpp
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@ -672,11 +672,6 @@ void Copter::guided_set_desired_velocity_with_accel_and_fence_limits(const Vecto
// get current desired velocity
Vector3f curr_vel_des = pos_control->get_desired_velocity();
// exit immediately if already equal
if (curr_vel_des == vel_des) {
return;
}
// get change in desired velocity
Vector3f vel_delta = vel_des - curr_vel_des;
@ -697,6 +692,8 @@ void Copter::guided_set_desired_velocity_with_accel_and_fence_limits(const Vecto
#if AC_AVOID_ENABLED
// limit the velocity to prevent fence violations
avoid.adjust_velocity(pos_control->get_pos_xy_kP(), pos_control->get_accel_xy(), curr_vel_des);
// get avoidance adjusted climb rate
curr_vel_des.z = get_avoidance_adjusted_climbrate(curr_vel_des.z);
#endif
// update position controller with new target