[paparazzi-commits] [paparazzi/paparazzi] 2d9958: [rotorcraft] guidance_v: limit z_ref in update_ref...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 2d995881530b9521cf7477c95a5cf6fab19b7c4f
      
https://github.com/paparazzi/paparazzi/commit/2d995881530b9521cf7477c95a5cf6fab19b7c4f
  Author: Felix Ruess <address@hidden>
  Date:   2014-07-04 (Fri, 04 Jul 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).