From b7c2464ccecf15ff57bfebf0651f26f6a7a07ca5 Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Tue, 5 Feb 2019 16:20:30 +0100
Subject: [PATCH] Manual vel smooth - Use MPC_JERK_MAX only
---
.../FlightTaskManualPositionSmoothVel.cpp | 20 +------------------
1 file changed, 1 insertion(+), 19 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
index 2dfea37f51..4b75221f09 100644
--- a/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
+++ b/src/lib/FlightTasks/tasks/ManualPositionSmoothVel/FlightTaskManualPositionSmoothVel.cpp
@@ -102,25 +102,7 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
_smoothing[2].setMaxVel(MPC_Z_VEL_MAX_DN.get());
}
- Vector2f vel_xy_sp = Vector2f(&_velocity_setpoint(0));
float jerk[3] = {_jerk_max.get(), _jerk_max.get(), _jerk_max.get()};
- float jerk_xy = _jerk_max.get();
-
- if (_jerk_min.get() > _jerk_max.get()) {
- _jerk_min.set(0.f);
- }
-
- if (_jerk_min.get() > FLT_EPSILON) {
- if (vel_xy_sp.length() < FLT_EPSILON) { // Brake
- jerk_xy = _jerk_max.get();
-
- } else {
- jerk_xy = _jerk_min.get();
- }
- }
-
- jerk[0] = jerk_xy;
- jerk[1] = jerk_xy;
/* Check for position unlock
* During a position lock -> position unlock transition, we have to make sure that the velocity setpoint
@@ -145,7 +127,7 @@ void FlightTaskManualPositionSmoothVel::_updateSetpoints()
if (fabsf(_sticks_expo(2)) > FLT_EPSILON) {
if (_position_lock_z_active) {
_smoothing[2].setCurrentVelocity(_velocity_setpoint_feedback(
- 0)); // Start the trajectory at the current velocity setpoint
+ 2)); // Start the trajectory at the current velocity setpoint
_position_setpoint_z_locked = NAN;
}
--
GitLab