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add new parameters for roll and pitch angular rate limits

This commit is contained in:
Mark Whitehorn 2015-03-17 20:52:51 -06:00 committed by Lorenz Meier
parent a07712bb1e
commit 7f418445f2
2 changed files with 6 additions and 9 deletions
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11
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -202,7 +202,7 @@ private:
float roll_rate_max;
float pitch_rate_max;
float yaw_rate_max;
math::Vector<3> mc_rate_max; /**< attitude rate limits in stabilized modes */
math::Vector<3> mc_rate_max; /**< attitude rate limits in all modes */
float man_roll_max;
float man_pitch_max;
@ -656,14 +656,11 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* limit roll and pitch rates */
for (int i = 0; i < 2; i++) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.acro_rate_max(i), _params.acro_rate_max(i));
/* limit rates */
for (int i = 0; i < 3; i++) {
_rates_sp(i) = math::constrain(_rates_sp(i), -_params.mc_rate_max(i), _params.mc_rate_max(i));
}
/* limit yaw rate */
_rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max);
/* feed forward yaw setpoint rate */
_rates_sp(2) += _v_att_sp.yaw_sp_move_rate * yaw_w * _params.yaw_ff;
}

4
src/modules/mc_att_control/mc_att_control_params.c
View File

@ -215,7 +215,7 @@ PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f);
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 360.0f);
PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 120.0f);
/**
* Max pitch rate
@ -227,7 +227,7 @@ PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 360.0f);
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 360.0f);
PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 120.0f);
/**
* Max yaw rate