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limit takeoff and land velocity to max z velocity

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This commit is contained in:
Andreas Antener
2016-02-02 21:35:18 +01:00
parent 6a98c6ca63
commit 0aff2e6c09
1 changed files with 4 additions and 0 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4
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@@ -558,6 +558,10 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.mc_att_yaw_p, &v);
_params.mc_att_yaw_p = v;
/* takeoff and land velocities should not exceed maximum */
_params.tko_speed = fminf(_params.tko_speed, _params.vel_max(2));
_params.land_speed = fminf(_params.land_speed, _params.vel_max(2));
}
return OK;