From e0c48d1d76bc2c436fd58cf3640dac481474c76f Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 8 Feb 2019 16:18:48 +0100 Subject: [PATCH] PositionControl - use dynamic constraints to saturate velocity controller for now as it is needed for the current smooth takeoff logic. Will be reverted after smooth takeoff refactor --- src/modules/mc_pos_control/PositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index eaf4affb02..cc18232ac7 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -225,7 +225,7 @@ void PositionControl::_positionController() _vel_sp(0) = vel_sp_xy(0); _vel_sp(1) = vel_sp_xy(1); // Constrain velocity in z-direction. - _vel_sp(2) = math::constrain(_vel_sp(2), -MPC_Z_VEL_MAX_UP.get(), MPC_Z_VEL_MAX_DN.get()); + _vel_sp(2) = math::constrain(_vel_sp(2), -_constraints.speed_up, _constraints.speed_down); } void PositionControl::_velocityController(const float &dt)