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FlightTaskManualAltitude: Rename _min_speed_down -> _max_speed_down as it is the maximum allowed downward speed

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bresch 2020-01-17 10:27:43 +01:00 committed by Mathieu Bresciani
parent c0d1aa1654
commit c80593a144
2 changed files with 5 additions and 5 deletions
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8
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
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@ -64,7 +64,7 @@ bool FlightTaskManualAltitude::activate(vehicle_local_position_setpoint_s last_s
_updateConstraintsFromEstimator(); _updateConstraintsFromEstimator();
_max_speed_up = _constraints.speed_up; _max_speed_up = _constraints.speed_up;
_min_speed_down = _constraints.speed_down; _max_speed_down = _constraints.speed_down;
return ret; return ret;
} }
@ -246,7 +246,7 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
// below the maximum, preserving control loop vertical position error gain. // below the maximum, preserving control loop vertical position error gain.
if (PX4_ISFINITE(_constraints.max_distance_to_ground)) { if (PX4_ISFINITE(_constraints.max_distance_to_ground)) {
_constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_constraints.max_distance_to_ground - _dist_to_bottom), _constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_constraints.max_distance_to_ground - _dist_to_bottom),
-_min_speed_down, _max_speed_up); -_max_speed_down, _max_speed_up);
} else { } else {
_constraints.speed_up = _max_speed_up; _constraints.speed_up = _max_speed_up;
@ -259,10 +259,10 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
// set position setpoint to maximum distance to ground // set position setpoint to maximum distance to ground
_position_setpoint(2) = _position(2) + delta_distance_to_max; _position_setpoint(2) = _position(2) + delta_distance_to_max;
// limit speed downwards to 0.7m/s // limit speed downwards to 0.7m/s
_constraints.speed_down = math::min(_min_speed_down, 0.7f); _constraints.speed_down = math::min(_max_speed_down, 0.7f);
} else { } else {
_constraints.speed_down = _min_speed_down; _constraints.speed_down = _max_speed_down;
} }
} }

2
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
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@ -126,7 +126,7 @@ private:
float _yawspeed_filter_state{}; /**< state of low-pass filter in rad/s */ float _yawspeed_filter_state{}; /**< state of low-pass filter in rad/s */
uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */ uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
float _max_speed_up = 10.0f; float _max_speed_up = 10.0f;
float _min_speed_down = 1.0f; float _max_speed_down = 1.0f;
bool _terrain_follow{false}; /**< true when the vehicle is following the terrain height */ bool _terrain_follow{false}; /**< true when the vehicle is following the terrain height */
bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */ bool _terrain_hold{false}; /**< true when vehicle is controlling height above a static ground position */