Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-01 04:46:51 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

rotorcraft vertical guidance: set altitude setpoint on hover mode entry, also set vert speed setpoint to zero when entering climb mode

Browse Source
This commit is contained in:
Felix Ruess
2012-04-10 14:56:20 +02:00
parent a9c9ed9b8b
commit bd88929991
1 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+7 -3
View File
@@ -122,10 +122,15 @@ void guidance_v_mode_changed(uint8_t new_mode) {
return;
switch (new_mode) {
case GUIDANCE_V_MODE_HOVER:
guidance_v_z_sp = ins_ltp_pos.z; // set current altitude as setpoint
guidance_v_z_sum_err = 0;
GuidanceVSetRef(ins_ltp_pos.z, 0, 0);
break;
case GUIDANCE_V_MODE_RC_CLIMB:
case GUIDANCE_V_MODE_CLIMB:
case GUIDANCE_V_MODE_HOVER:
guidance_v_zd_sp = 0;
case GUIDANCE_V_MODE_NAV:
guidance_v_z_sum_err = 0;
GuidanceVSetRef(ins_ltp_pos.z, ins_ltp_speed.z, 0);
@@ -158,8 +163,7 @@ void guidance_v_run(bool_t in_flight) {
switch (guidance_v_mode) {
case GUIDANCE_V_MODE_RC_DIRECT:
guidance_v_z_sp = ins_ltp_pos.z; // not sure why we do that
GuidanceVSetRef(ins_ltp_pos.z, 0, 0); // or that - mode enter should take care of it ?
guidance_v_z_sp = ins_ltp_pos.z; // for display only
stabilization_cmd[COMMAND_THRUST] = guidance_v_rc_delta_t;
break;