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fix comp error

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This commit is contained in:
JuliooCesarMDM 2021-12-23 20:16:07 -03:00
parent 538cebfcb1
commit 2a9d2fe127
1 changed files with 3 additions and 1 deletions
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4
src/main/navigation/navigation_multicopter.c
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@ -118,6 +118,7 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
float accel_target_z = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrAdjustmentMin, thrAdjustmentMax, 0); float accel_target_z = navPidApply2(&posControl.pids.vel[Z], posControl.desiredState.vel.z, navGetCurrentActualPositionAndVelocity()->vel.z, US2S(deltaMicros), thrAdjustmentMin, thrAdjustmentMax, 0);
/*
float accel_max_z = 0.0f; float accel_max_z = 0.0f;
if (posControl.flags.isAdjustingAltitude) { if (posControl.flags.isAdjustingAltitude) {
@ -127,7 +128,8 @@ static void updateAltitudeThrottleController_MC(timeDelta_t deltaMicros)
} }
// add feed forward component // add feed forward component
//accel_target_z += constrainf(accel_desired_z, -accel_max_z, accel_max_z); accel_target_z += constrainf(accel_desired_z, -accel_max_z, accel_max_z);
*/
posControl.rcAdjustment[THROTTLE] = accel_target_z; posControl.rcAdjustment[THROTTLE] = accel_target_z;