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fixed bug in updateClimbRateToAltitudeController and added logging

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Pawel Spychalski (DzikuVx) 2017-05-22 11:44:46 +02:00
parent 1c218f2301
commit f0a95f3d22
3 changed files with 8 additions and 2 deletions
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6
src/main/navigation/navigation.c
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@ -1871,8 +1871,12 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti
if (STATE(FIXED_WING)) {
// Fixed wing climb rate controller is open-loop. We simply move the known altitude target
float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 0, desiredClimbRate);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 1, timeDelta * 1000);
if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ)) {
posControl.desiredState.pos.V.Z = desiredClimbRate * timeDelta;
posControl.desiredState.pos.V.Z += desiredClimbRate * timeDelta;
posControl.desiredState.pos.V.Z = constrainf(posControl.desiredState.pos.V.Z, // FIXME: calculate sanity limits in a smarter way
posControl.actualState.pos.V.Z - 500,
posControl.actualState.pos.V.Z + 500);