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AC_AttitudeControl: check for zero rate Y max before taking min #18341

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Aug 25, 2021
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AC_AttitudeControl: check for zero rate Y max before taking min #18341

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7 changes: 5 additions & 2 deletions libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -589,8 +589,11 @@ void AC_AttitudeControl::input_thrust_vector_rate_heading(const Vector3f& thrust
// Command a thrust vector, heading and heading rate
void AC_AttitudeControl::input_thrust_vector_heading(const Vector3f& thrust_vector, float heading_angle_cd, float heading_rate_cds)
{
// a zero _angle_vel_yaw_max means that setting is disabled
const float ang_vel_yaw_max_rads = is_zero(_ang_vel_yaw_max) ? get_slew_yaw_rads() : MIN(radians(_ang_vel_yaw_max), get_slew_yaw_rads());

// Convert from centidegrees on public interface to radians
float heading_rate = constrain_float(radians(heading_rate_cds * 0.01f), -get_slew_yaw_rads(), get_slew_yaw_rads());
float heading_rate = constrain_float(radians(heading_rate_cds * 0.01f), -ang_vel_yaw_max_rads, ang_vel_yaw_max_rads);
float heading_angle = radians(heading_angle_cd * 0.01f);

// calculate the attitude target euler angles
Expand All @@ -614,7 +617,7 @@ void AC_AttitudeControl::input_thrust_vector_heading(const Vector3f& thrust_vect
_ang_vel_target.z = input_shaping_angle(attitude_error.z, _input_tc, get_accel_yaw_max_radss(), _ang_vel_target.z, heading_rate, get_slew_yaw_rads(), _dt);

// Limit the angular velocity
ang_vel_limit(_ang_vel_target, radians(_ang_vel_roll_max), radians(_ang_vel_pitch_max), MIN(radians(_ang_vel_yaw_max), get_slew_yaw_rads()));
ang_vel_limit(_ang_vel_target, radians(_ang_vel_roll_max), radians(_ang_vel_pitch_max), ang_vel_yaw_max_rads);
} else {
// set persisted quaternion target attitude
_attitude_target = desired_attitude_quat;
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