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AC_PosControl: add accel limit to xy controller

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Leonard Hall 2017-11-17 14:15:35 +09:00 committed by Randy Mackay
parent bd13704f6f
commit 7ec043502f
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1053,7 +1053,7 @@ void AC_PosControl::run_xy_controller(float dt, float ekfNavVelGainScaler)
// limit acceleration using maximum lean angles
float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), _attitude_control.lean_angle_max());
float accel_max = GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f));
float accel_max = MIN(GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f)), POSCONTROL_ACCEL_XY_MAX);
_limit.accel_xy = limit_vector_length(_accel_target.x, _accel_target.y, accel_max);
// rotate accelerations into body forward-right frame