yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 01:12:11 +00:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: also use vertical smoothing in altitude

Browse Source 
Smoothing can be configured by MPC_POS_MODE parameter
put before only for position mode and not for altitude mode.
This commit is contained in:
Matthias Grob
2018-11-27 21:09:11 +01:00
parent 48d9484ceb
commit 38cf89ee9c
1 changed files with 15 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@@ -949,15 +949,10 @@ MulticopterPositionControl::start_flight_task()
// manual position control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL || task_failure) {
should_disable_task = false;
int error = 0;
switch (MPC_POS_MODE.get()) {
case 0:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmooth);
break;
@@ -970,6 +965,7 @@ MulticopterPositionControl::start_flight_task()
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPositionSmoothVel);
break;
case 0:
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualPosition);
break;
@@ -991,7 +987,20 @@ MulticopterPositionControl::start_flight_task()
// manual altitude control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL || task_failure) {
should_disable_task = false;
int error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
int error = 0;
switch (MPC_POS_MODE.get()) {
case 1:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitudeSmooth);
break;
case 0:
case 2:
case 3:
default:
error = _flight_tasks.switchTask(FlightTaskIndex::ManualAltitude);
break;
}
if (error != 0) {
if (prev_failure_count == 0) {