Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-22 06:14:14 +08:00
Code Issues Actions 8 Packages Projects Releases Wiki Activity

mc_pos_control: always respect position estimate vxy_max if set

Browse Source 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Daniel Agar
2022-06-20 18:09:20 -04:00
parent 5d2dfadb0e
commit 15747239c1
1 changed files with 7 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/MulticopterPositionControl.cpp
+7 -1
View File
@@ -489,8 +489,14 @@ void MulticopterPositionControl::Run()
_control.setThrustLimits(minimum_thrust, _param_mpc_thr_max.get());
float max_speed_xy = _param_mpc_xy_vel_max.get();
if (PX4_ISFINITE(vehicle_local_position.vxy_max)) {
max_speed_xy = math::min(max_speed_xy, vehicle_local_position.vxy_max);
}
_control.setVelocityLimits(
_param_mpc_xy_vel_max.get(),
max_speed_xy,
math::min(speed_up, _param_mpc_z_vel_max_up.get()), // takeoff ramp starts with negative velocity limit
math::max(speed_down, 0.f));