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[NAV] Restrict MC RoC/RoD rate-limiting to the case where we actually accelerate #4245

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Jan 25, 2019
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[NAV] Restrict MC RoC/RoD rate-limiting to the case where we actually accelerate #4245

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[NAV] Restrict MC RoC/RoD rate-limiting to the case where we actually…
digitalentity Jan 21, 2019
3f46bd4
Use signbit()
digitalentity Jan 23, 2019
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5 changes: 3 additions & 2 deletions src/main/navigation/navigation_multicopter.c
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Original file line number Diff line number Diff line change
Expand Up @@ -74,9 +74,10 @@ static void updateAltitudeVelocityController_MC(timeDelta_t deltaMicros)

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 (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);
posControl.desiredState.vel.z = constrainf(targetVel, posControl.desiredState.vel.z - maxVelDifference, posControl.desiredState.vel.z + maxVelDifference);
}
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