dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

APX4-1617: Fix manual climb rate in TECS (#1463) 

* tecs: workaround for the fact that vel smoothing lib uses a DOWN coordinate system

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst 2021-08-26 14:21:41 +03:00 committed by Silvan Fuhrer
parent 7cb99f521c
commit d58d13b2e8
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/lib/tecs/TECS.cpp
View File

@ -448,8 +448,8 @@ void TECS::_updateTrajectoryGenerationConstraints()
_velocity_control_traj_generator.setMaxJerk(_jerk_max);
_velocity_control_traj_generator.setMaxAccelUp(_vert_accel_limit);
_velocity_control_traj_generator.setMaxAccelDown(_vert_accel_limit);
_velocity_control_traj_generator.setMaxVelUp(_max_climb_rate);
_velocity_control_traj_generator.setMaxVelDown(_max_sink_rate);
_velocity_control_traj_generator.setMaxVelUp(_max_sink_rate); // different convention for FW than for MC
_velocity_control_traj_generator.setMaxVelDown(_max_climb_rate); // different convention for FW than for MC
}
void TECS::_calculateHeightRateSetpoint(float altitude_sp_amsl, float height_rate_sp, float target_climbrate,