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mc_pos_control: AWU fixed

This commit is contained in:
Anton Babushkin 2014-01-20 10:26:43 +01:00
parent f4edb448dd
commit 9c6cc7a36b
1 changed files with 10 additions and 8 deletions
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18
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -828,16 +828,18 @@ MulticopterPositionControl::task_main()
}
/* update integrals */
math::Vector<3> m;
m(0) = (_control_mode.flag_control_velocity_enabled && !saturation_xy) ? 1.0f : 0.0f;
m(1) = m(0);
m(2) = (_control_mode.flag_control_climb_rate_enabled && !saturation_z) ? 1.0f : 0.0f;
if (_control_mode.flag_control_velocity_enabled && !saturation_xy) {
thrust_int(0) += vel_err(0) * _params.vel_i(0) * dt;
thrust_int(1) += vel_err(1) * _params.vel_i(1) * dt;
}
thrust_int += vel_err.emult(_params.vel_i) * dt;
if (_control_mode.flag_control_climb_rate_enabled && !saturation_z) {
thrust_int(2) += vel_err(2) * _params.vel_i(2) * dt;
/* protection against flipping on ground when landing */
if (thrust_int(2) > 0.0f)
thrust_int(2) = 0.0f;
/* protection against flipping on ground when landing */
if (thrust_int(2) > 0.0f)
thrust_int(2) = 0.0f;
}
/* calculate attitude and thrust from thrust vector */
if (_control_mode.flag_control_velocity_enabled) {