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mc_pos_control: parameter for maximum horizontal velocity

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This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 8eca82022c
commit 10a9c410e3
2 changed files with 4 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1
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@@ -410,6 +410,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_acceleration_z_max_up(this, "ACC_UP_MAX", true),
_acceleration_z_max_down(this, "ACC_DOWN_MAX", true),
_cruise_speed_90(this, "CRUISE_90", true),
_velocity_hor_manual(this, "VEL_MANUAL", true),
_takeoff_ramp_time(this, "TKO_RAMP_T", true),
_min_cruise_speed(this, "CRUISE_MIN", true),
_nav_rad(this, "NAV_ACC_RAD", false),
src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
View File
@@ -272,13 +272,13 @@ PARAM_DEFINE_FLOAT(MPC_CRUISE_90, 3.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_MAX, 10.0f);
PARAM_DEFINE_FLOAT(MPC_VEL_MANUAL, 10.0f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity. If higher speeds
* are commanded they will be capped to this velocity.
* Maximum horizontal velocity in AUTO mode. If higher speeds
* are commanded in a mission they will be capped to this velocity.
*
* @unit m/s
* @min 0.0