C++ (Cpp) freeze_ff_z Exemples

Exemple #1

Fichier : AC_PosControl.cpp Projet : Hwurzburg/ardupilot

/// shift altitude target (positive means move altitude up)
void AC_PosControl::shift_alt_target(float z_cm)
{
    _pos_target.z += z_cm;

    // freeze feedforward to avoid jump
    if (!is_zero(z_cm)) {
        freeze_ff_z();
    }
}

Exemple #2

Fichier : AC_PosControl.cpp Projet : MeGrimlock/libraries

/// init_takeoff - initialises target altitude if we are taking off
void AC_PosControl::init_takeoff()
{
    const Vector3f& curr_pos = _inav.get_position();

    _pos_target.z = curr_pos.z + POSCONTROL_TAKEOFF_JUMP_CM;

    // freeze feedforward to avoid jump
    freeze_ff_z();

    // shift difference between last motor out and hover throttle into accelerometer I
    _pid_alt_accel.set_integrator(_motors.get_throttle_out()-_throttle_hover);
}

Exemple #3

Fichier : AC_PosControl.cpp Projet : UCSD-PL/ardupilot

/// init_takeoff - initialises target altitude if we are taking off
void AC_PosControl::init_takeoff()
{
    const Vector3f& curr_pos = _inav.get_position();

    _pos_target.z = curr_pos.z;

    // freeze feedforward to avoid jump
    freeze_ff_z();

    // shift difference between last motor out and hover throttle into accelerometer I
    _pid_accel_z.set_integrator((_motors.get_throttle()-_motors.get_throttle_hover())*1000.0f);
}