Fix Altitude Limitation #11211
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Fix Altitude Limitation #11211
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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
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Feb 7, 2019
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And rebased in a second step such that you can see the changes under the first for-pushed link. |
julianoes
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Feb 11, 2019
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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.
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@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. |
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Good to go, now that thenames and comments are clear? |
julianoes
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Feb 25, 2019
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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