Fix Altitude Limitation #11211
Merged
Fix Altitude Limitation #11211
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Are there any disagreements on this fix? @Stifael mentioned that @priseborough would prefer a perfectly continuous implementation which would be possible but the current implementation is not even working properly and can get your vehicle trapped at the maximum altitude so we really need this fix in my opinion. |
julianoes
reviewed
Feb 7, 2019
MaEtUgR
force-pushed
the
fix-altitude-limitation
branch
2 times, most recently
from
f29f78b
to
cb452e0
Compare
|
And rebased in a second step such that you can see the changes under the first for-pushed link. |
julianoes
reviewed
Feb 11, 2019
MaEtUgR
force-pushed
the
fix-altitude-limitation
branch
from
cb452e0
to
583116a
Compare
Before if you were above the maximum altitude you could not command to go down anymore until the position controller had overshoot to under the maximum altitude again.
MaEtUgR
force-pushed
the
fix-altitude-limitation
branch
from
583116a
to
bbfc4ef
Compare
|
@julianoes So rebased (1st force-push) and improved naming and comments to be hopefully very clear now (2nd force-push). My SITL test still works perfectly fine. |
|
Good to go, now that thenames and comments are clear? |
julianoes
approved these changes
Feb 25, 2019
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Describe problem solved by the proposed pull request
Before if you were above the maximum altitude you could command to go down anymore until the position controller had control overshoot and the vehicle slowly got below the maximum altitude again.
Describe your preferred solution
I tried to simplify the logic:
This results in "bouncing off" the limitation.
Test data / coverage
SITL testing