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FlightTaskOrbit: correct acceleration feed-forward 

The acceleration setpoint gets implicitly inherited from the altitude
flight task since #14212. This feed-forward adds an unwanted
acceleration when the right stick is deflected. Instead I'm using it
to command the expected centripetal acceleration when flying
in a circle for better orbit tracking.
This commit is contained in:
Matthias Grob 2020-07-13 21:10:58 +02:00 committed by Mathieu Bresciani
parent 589aff7e0d
commit 624d8a58e9
1 changed files with 2 additions and 2 deletions
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4
src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
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@ -223,9 +223,9 @@ void FlightTaskOrbit::generate_circle_setpoints(Vector2f center_to_position)
// xy velocity adjustment to stay on the radius distance
velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();
_velocity_setpoint(0) = velocity_xy(0);
_velocity_setpoint(1) = velocity_xy(1);
_position_setpoint(0) = _position_setpoint(1) = NAN;
_velocity_setpoint.xy() = velocity_xy;
_acceleration_setpoint.xy() = -center_to_position.unit_or_zero() * _v * _v / _r;
}
void FlightTaskOrbit::generate_circle_yaw_setpoints(Vector2f center_to_position)