|
|
@ -422,13 +422,13 @@ protected: |
|
|
|
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
|
|
|
|
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
|
|
|
|
|
|
|
|
|
|
|
|
// position controller internal variables
|
|
|
|
// position controller internal variables
|
|
|
|
Vector3f _pos_target; // target location in cm from home
|
|
|
|
Vector3f _pos_target; // target location in NEU cm from home
|
|
|
|
Vector3f _vel_desired; // desired velocity in cm/s
|
|
|
|
Vector3f _vel_desired; // desired velocity in NEU cm/s
|
|
|
|
Vector3f _vel_target; // velocity target in cm/s calculated by pos_to_rate step
|
|
|
|
Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step
|
|
|
|
Vector3f _vel_error; // error between desired and actual acceleration in cm/s
|
|
|
|
Vector3f _vel_error; // error between desired and actual acceleration in cm/s
|
|
|
|
Vector3f _accel_desired; // desired acceleration in cm/s/s (feed forward)
|
|
|
|
Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward)
|
|
|
|
Vector3f _accel_target; // acceleration target in cm/s/s
|
|
|
|
Vector3f _accel_target; // acceleration target in NEU cm/s/s
|
|
|
|
Vector3f _accel_error; // acceleration error in cm/s/s
|
|
|
|
Vector3f _accel_error; // acceleration error in NEU cm/s/s
|
|
|
|
Vector2f _vehicle_horiz_vel; // velocity to use if _flags.vehicle_horiz_vel_override is set
|
|
|
|
Vector2f _vehicle_horiz_vel; // velocity to use if _flags.vehicle_horiz_vel_override is set
|
|
|
|
LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error
|
|
|
|
LowPassFilterFloat _vel_error_filter; // low-pass-filter on z-axis velocity error
|
|
|
|
|
|
|
|
|
|
|
|