From 6b26594697a305477b81aefa4788e1521de63bc5 Mon Sep 17 00:00:00 2001 From: Mark Whitehorn Date: Mon, 16 Mar 2015 10:14:07 -0600 Subject: apply roll/pitch acro_rate_max in MC attitude controller --- src/modules/mc_att_control/mc_att_control_main.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 85a0dda9e..987fb0314 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -639,6 +639,11 @@ MulticopterAttitudeControl::control_attitude(float dt) /* calculate angular rates setpoint */ _rates_sp = _params.att_p.emult(e_R); + /* limit roll and pitch rates */ + for (int i = 0; i < 2; i++) { + _rates_sp(i) = math::constrain(_rates_sp(i), -_params.acro_rate_max(i), _params.acro_rate_max(i)); + } + /* limit yaw rate */ _rates_sp(2) = math::constrain(_rates_sp(2), -_params.yaw_rate_max, _params.yaw_rate_max); -- cgit v1.2.3