diff options
Diffstat (limited to 'src/lib/ecl/l1')
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 4 | ||||
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.h | 11 |
2 files changed, 13 insertions, 2 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index daf136d49..27d76f959 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -43,7 +43,7 @@ float ECL_L1_Pos_Controller::nav_roll() { float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G); - ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f); + ret = math::constrain(ret, -_roll_lim_rad, _roll_lim_rad); return ret; } @@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float xtrackErr = vector_A_to_airplane % vector_AB; float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f); /* limit output to 45 degrees */ - sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f); + sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071 float eta1 = asinf(sine_eta1); eta = eta1 + eta2; /* bearing from current position to L1 point */ diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.h b/src/lib/ecl/l1/ecl_l1_pos_controller.h index 5a17346cb..7a3c42a92 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.h +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.h @@ -222,6 +222,15 @@ public: _K_L1 = 4.0f * _L1_damping * _L1_damping; } + + /** + * Set the maximum roll angle output in radians + * + */ + void set_l1_roll_limit(float roll_lim_rad) { + _roll_lim_rad = roll_lim_rad; + } + private: float _lateral_accel; ///< Lateral acceleration setpoint in m/s^2 @@ -238,6 +247,8 @@ private: float _K_L1; ///< L1 control gain for _L1_damping float _heading_omega; ///< Normalized frequency + float _roll_lim_rad; ///<maximum roll angle + /** * Convert a 2D vector from WGS84 to planar coordinates. * |