[paparazzi-commits] [paparazzi/paparazzi] 5ac66a: [rotorcraft] guidance_v: limit z_ref in update_ref...

[GitHub]

  Branch: refs/heads/guidance_v_limit_z_diff
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 5ac66ae1dfa11d92eba92bd285854eee37a0b26b
      
https://github.com/paparazzi/paparazzi/commit/5ac66ae1dfa11d92eba92bd285854eee37a0b26b
  Author: Felix Ruess <address@hidden>
  Date:   2014-06-24 (Tue, 24 Jun 2014)

  Changed paths:
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.c
    M sw/airborne/firmwares/rotorcraft/guidance/guidance_v_ref.h

  Log Message:
  -----------
  [rotorcraft] guidance_v: limit z_ref in update_ref_from_zd_sp

Limit the gv_z_ref to GUIDANCE_V_REF_MAX_Z_DIFF (default 2m) from current z 
position.
This should be useful if the aircraft can't follow the alitude in climb mode 
(e.g. when limited by max throttle).