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MPC_POS_MODE remove old metadata and explicitly handle invalid configuration

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Daniel Agar
2021-03-01 09:10:11 +01:00
committed by Mathieu Bresciani
parent d01806a0c6
commit 0ba1bc0ce1
2 changed files with 6 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -708,13 +708,11 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 3.0f);
* The supported sub-modes are:
* 0 Simple position control where sticks map directly to velocity setpoints
* without smoothing. Useful for velocity control tuning.
* 1 Smooth position control with maximum acceleration and jerk limits based on slew-rates.
* 3 Smooth position control with maximum acceleration and jerk limits based on
* jerk optimized trajectory generator (different algorithm than 1).
* 4 Smooth position control where sticks map to acceleration and there's a virtual brake drag
*
* @value 0 Simple position control
* @value 1 Smooth position control
* @value 3 Smooth position control (Jerk optimized)
* @value 4 Acceleration based input
* @group Multicopter Position Control