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fix NO_RC_THRUST_LIMIT

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This commit is contained in:
Felix Ruess
2011-11-29 11:27:43 +01:00
parent 87905f83d7
commit c51ae32aec
1 changed files with 9 additions and 3 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+9 -3
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@@ -192,7 +192,9 @@ void guidance_v_run(bool_t in_flight) {
#endif #endif
gv_update_ref_from_zd_sp(guidance_v_zd_sp); gv_update_ref_from_zd_sp(guidance_v_zd_sp);
run_hover_loop(in_flight); run_hover_loop(in_flight);
#if !NO_RC_THRUST_LIMIT #if NO_RC_THRUST_LIMIT
stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
#else
// saturate max authority with RC stick // saturate max authority with RC stick
stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t); stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
#endif #endif
@@ -205,7 +207,9 @@ void guidance_v_run(bool_t in_flight) {
#endif #endif
gv_update_ref_from_z_sp(guidance_v_z_sp); gv_update_ref_from_z_sp(guidance_v_z_sp);
run_hover_loop(in_flight); run_hover_loop(in_flight);
#if !NO_RC_THRUST_LIMIT #if NO_RC_THRUST_LIMIT
stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
#else
// saturate max authority with RC stick // saturate max authority with RC stick
stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t); stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);
#endif #endif
@@ -228,7 +232,9 @@ void guidance_v_run(bool_t in_flight) {
guidance_v_z_sp = -nav_flight_altitude; // For display only guidance_v_z_sp = -nav_flight_altitude; // For display only
guidance_v_delta_t = nav_throttle; guidance_v_delta_t = nav_throttle;
} }
#if !NO_RC_THRUST_LIMIT #if NO_RC_THRUST_LIMIT
stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
#else
/* use rc limitation if available */ /* use rc limitation if available */
if (radio_control.status == RC_OK) if (radio_control.status == RC_OK)
stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t); stabilization_cmd[COMMAND_THRUST] = Min( guidance_v_rc_delta_t, guidance_v_delta_t);