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AC_AttControl: do not limit rate if ATC_ACCEL_MAX param is zero

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Leonard Hall 2016-11-23 14:43:19 +09:00 committed by Randy Mackay
parent ae927e1775
commit ea0e413b04
1 changed files with 6 additions and 2 deletions
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8
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -480,8 +480,12 @@ float AC_AttitudeControl::input_shaping_angle(float error_angle, float smoothing
float ang_vel = sqrt_controller(error_angle, smoothing_gain, accel_max); float ang_vel = sqrt_controller(error_angle, smoothing_gain, accel_max);
// Acceleration is limited directly to smooth the beginning of the curve. // Acceleration is limited directly to smooth the beginning of the curve.
float delta_ang_vel = accel_max * _dt; if (accel_max > 0) {
return constrain_float(ang_vel, target_ang_vel-delta_ang_vel, target_ang_vel+delta_ang_vel); float delta_ang_vel = accel_max * _dt;
return constrain_float(ang_vel, target_ang_vel-delta_ang_vel, target_ang_vel+delta_ang_vel);
} else {
return ang_vel;
}
} }
// limits the acceleration and deceleration of a velocity request // limits the acceleration and deceleration of a velocity request