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mc_pos_control: clarify speed params

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Dennis Mannhart 2017-05-15 15:22:31 +02:00 committed by Lorenz Meier
parent 9cfc57e4a6
commit 0a37d8dc42
2 changed files with 5 additions and 4 deletions
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1
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2537,7 +2537,6 @@ MulticopterPositionControl::task_main()
_mode_auto = false;
_reset_int_z = true;
_reset_int_xy = true;
_limit_vel_xy = false;
/* store last velocity in case a mode switch to position control occurs */
_vel_sp_prev = _vel;

8
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -262,6 +262,8 @@ PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
/**
* Maximum horizontal velocity setpoint for manual controlled mode
* If velocity setpoint larger than MPC_XY_VEL_MAX is set, then
* the setpoint will be capped to MPC_XY_VEL_MAX
*
* @unit m/s
* @min 3.0
@ -291,8 +293,8 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode. If higher speeds
* are commanded in a mission they will be capped to this velocity.
* Maximum horizontal velocity. If higher speeds
* are commanded they will be capped to this velocity.
*
* @unit m/s
* @min 0.0
@ -301,7 +303,7 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
/**
* Maximum tilt angle in air