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mc_pos_control: clarify speed params

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This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 9cfc57e4a6
commit 0a37d8dc42
2 changed files with 5 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-1
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@@ -2537,7 +2537,6 @@ MulticopterPositionControl::task_main()
_mode_auto = false; _mode_auto = false;
_reset_int_z = true; _reset_int_z = true;
_reset_int_xy = true; _reset_int_xy = true;
_limit_vel_xy = false;
/* store last velocity in case a mode switch to position control occurs */ /* store last velocity in case a mode switch to position control occurs */
_vel_sp_prev = _vel; _vel_sp_prev = _vel;
src/modules/mc_pos_control/mc_pos_control_params.c
+5 -3
View File
@@ -262,6 +262,8 @@ PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
/** /**
* Maximum horizontal velocity setpoint for manual controlled mode * 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 * @unit m/s
* @min 3.0 * @min 3.0
@@ -291,8 +293,8 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
/** /**
* Maximum horizontal velocity * Maximum horizontal velocity
* *
* Maximum horizontal velocity in AUTO mode. If higher speeds * Maximum horizontal velocity. If higher speeds
* are commanded in a mission they will be capped to this velocity. * are commanded they will be capped to this velocity.
* *
* @unit m/s * @unit m/s
* @min 0.0 * @min 0.0
@@ -301,7 +303,7 @@ PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
* @decimal 2 * @decimal 2
* @group Multicopter Position Control * @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 * Maximum tilt angle in air