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MC position controller: Stop XY control once ground contact is established

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Lorenz Meier
2017-01-17 10:05:11 +01:00
parent aab04141f0
commit f961a12d9a
1 changed files with 14 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+14
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@@ -1750,6 +1750,16 @@ MulticopterPositionControl::control_position(float dt)
thrust_sp(1) = 0.0f;
}
/* if still or already on ground command a zero XY velocity */
if (_vehicle_land_detected.ground_contact) {
thrust_sp(0) = 0.0f;
thrust_sp(1) = 0.0f;
_vel_sp(0) = _vel(0);
_vel_sp(1) = _vel(1);
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
if (!_control_mode.flag_control_climb_rate_enabled && !_control_mode.flag_control_acceleration_enabled) {
thrust_sp(2) = 0.0f;
}
@@ -1818,6 +1828,10 @@ MulticopterPositionControl::control_position(float dt)
/* not on ground but with ground contact, stop position and velocity control */
thrust_sp(0) = 0.0f;
thrust_sp(1) = 0.0f;
_vel_sp(0) = _vel(0);
_vel_sp(1) = _vel(1);
_pos_sp(0) = _pos(0);
_pos_sp(1) = _pos(1);
}
/* once we assumed to have reached the ground always cut the thrust.