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added comment why reseting at this point; created variable for horizontal velocity magnitude

This commit is contained in:
Dennis Mannhart 2016-12-06 18:31:05 +01:00 committed by Lorenz Meier
parent 6865a70dea
commit 5ed35e9731
1 changed files with 5 additions and 1 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -925,7 +925,10 @@ MulticopterPositionControl::control_manual(float dt)
/* check for pos. hold */
if (fabsf(req_vel_sp(0)) < _params.hold_xy_dz && fabsf(req_vel_sp(1)) < _params.hold_xy_dz) {
if (!_pos_hold_engaged) {
if (_params.hold_max_xy < FLT_EPSILON || (sqrtf(_vel(0)*_vel(0) + _vel(1)*_vel(1)) < _params.hold_max_xy)) {
float vel_xy_mag = sqrtf(_vel(0)*_vel(0) + _vel(1)*_vel(1));
if (_params.hold_max_xy < FLT_EPSILON || vel_xy_mag < _params.hold_max_xy) {
/* reset position setpoint to have smooth transition from velocity control to position control */
_pos_hold_engaged = true;
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
@ -955,6 +958,7 @@ MulticopterPositionControl::control_manual(float dt)
if (fabsf(req_vel_sp(2)) < FLT_EPSILON) {
if (!_alt_hold_engaged) {
if (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z) {
/* reset position setpoint to have smooth transition from velocity control to position control */
_alt_hold_engaged = true;
_pos_sp(2) = _pos(2);