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Merge pull request #4245 from iNavFlight/de_fix_roc_rod_rate_limiting

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[NAV] Restrict MC RoC/RoD rate-limiting to the case where we actually accelerate
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Konstantin Sharlaimov 2019-01-25 13:22:46 +01:00 • committed by GitHub
commit da94e5efbe
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1 changed files with 3 additions and 2 deletions
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src/main/navigation/navigation_multicopter.c
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@ -74,9 +74,10 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)
posControl.pids.pos[Z].output_constrained = targetVel; posControl.pids.pos[Z].output_constrained = targetVel;
// limit max vertical acceleration to 1/5G (~200 cm/s/s) if we are increasing velocity. // limit max vertical acceleration to 1/5G (~200 cm/s/s) if we are increasing RoC or RoD (only if vel is of the same sign)
// if we are decelerating - don't limit (allow better recovery from falling) // if we are decelerating - don't limit (allow better recovery from falling)
if (fabsf(targetVel) > fabsf(posControl.desiredState.vel.z)) { const bool isSameDirection = (signbit(targetVel) == signbit(posControl.desiredState.vel.z)) && (targetVel != 0) && (posControl.desiredState.vel.z != 0);
if (isSameDirection && (fabsf(targetVel) > fabsf(posControl.desiredState.vel.z))) {
const float maxVelDifference = US2S(deltaMicros) * (GRAVITY_CMSS / 5.0f); const float maxVelDifference = US2S(deltaMicros) * (GRAVITY_CMSS / 5.0f);
posControl.desiredState.vel.z = constrainf(targetVel, posControl.desiredState.vel.z - maxVelDifference, posControl.desiredState.vel.z + maxVelDifference); posControl.desiredState.vel.z = constrainf(targetVel, posControl.desiredState.vel.z - maxVelDifference, posControl.desiredState.vel.z + maxVelDifference);
} }