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[rotorcraft][guidance] fixes for vertical nav

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This commit is contained in:
Felix Ruess
2013-08-30 01:01:53 +02:00
parent 6230a368ac
commit bb3043547d
1 changed files with 5 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+5 -2
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@@ -220,13 +220,16 @@ void guidance_v_run(bool_t in_flight) {
run_hover_loop(in_flight); run_hover_loop(in_flight);
} }
else if (vertical_mode == VERTICAL_MODE_CLIMB) { else if (vertical_mode == VERTICAL_MODE_CLIMB) {
guidance_v_z_sp = stateGetPositionNed_i()->z;
guidance_v_zd_sp = -nav_climb; guidance_v_zd_sp = -nav_climb;
gv_update_ref_from_zd_sp(guidance_v_zd_sp); gv_update_ref_from_zd_sp(guidance_v_zd_sp);
nav_flight_altitude = -guidance_v_z_sp;
run_hover_loop(in_flight); run_hover_loop(in_flight);
} }
else if (vertical_mode == VERTICAL_MODE_MANUAL) { else if (vertical_mode == VERTICAL_MODE_MANUAL) {
guidance_v_z_sp = -nav_flight_altitude; // For display only guidance_v_z_sp = stateGetPositionNed_i()->z;
guidance_v_zd_sp = stateGetSpeedNed_i()->z;
GuidanceVSetRef(guidance_v_z_sp, guidance_v_zd_sp, 0);
guidance_v_z_sum_err = 0;
guidance_v_delta_t = nav_throttle; guidance_v_delta_t = nav_throttle;
} }
#if NO_RC_THRUST_LIMIT #if NO_RC_THRUST_LIMIT