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apply roll/pitch acro_rate_max in MC attitude controller

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Mark Whitehorn
2015-03-16 10:14:07 -06:00
committed by Lorenz Meier
parent 9ac350a7d1
commit a07712bb1e
1 changed files with 6 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+6 -3
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@@ -656,11 +656,14 @@ MulticopterAttitudeControl::control_attitude(float dt)
/* calculate angular rates setpoint */
_rates_sp = _params.att_p.emult(e_R);
/* 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 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 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;
}