Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

PositionControl - use dynamic constraints to saturate velocity controller for now as it is needed for the current smooth takeoff logic. Will be reverted after smooth takeoff refactor

Browse Source
This commit is contained in:
bresch
2019-02-08 16:18:48 +01:00
parent 106f0769fd
commit e0c48d1d76
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+1 -1
View File
@@ -225,7 +225,7 @@ void PositionControl::_positionController()
_vel_sp(0) = vel_sp_xy(0);
_vel_sp(1) = vel_sp_xy(1);
// Constrain velocity in z-direction.
_vel_sp(2) = math::constrain(_vel_sp(2), -MPC_Z_VEL_MAX_UP.get(), MPC_Z_VEL_MAX_DN.get());
_vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.speed_up, _constraints.speed_down);
}
void PositionControl::_velocityController(const float &dt)