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Fix Altitude Limitation #11211

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Feb 25, 2019
Merged

Fix Altitude Limitation #11211

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21 changes: 6 additions & 15 deletions src/modules/mc_pos_control/mc_pos_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -486,22 +486,13 @@ MulticopterPositionControl::limit_altitude(vehicle_local_position_setpoint_s &se
return;
}

float altitude_above_home = -(_states.position(2) - _home_pos.z);
// maximum altitude == minimal z-value (NED)
const float min_z = _home_pos.z + (-_vehicle_land_detected.alt_max);

if (altitude_above_home > _vehicle_land_detected.alt_max) {
// we are above maximum altitude
setpoint.z = -_vehicle_land_detected.alt_max + _home_pos.z;
setpoint.vz = 0.0f;

} else if (setpoint.vz <= 0.0f) {
// we want to fly upwards: check if vehicle does not exceed altitude

float delta_p = _vehicle_land_detected.alt_max - altitude_above_home;

if (fabsf(setpoint.vz) * _dt > delta_p) {
setpoint.z = -_vehicle_land_detected.alt_max + _home_pos.z;
setpoint.vz = 0.0f;
}
if (_states.position(2) < min_z) {
// above maximum altitude, only allow downwards flight == positive vz-setpoints (NED)
setpoint.z = min_z;
setpoint.vz = math::max(setpoint.vz, 0.f);
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}
}

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