From 10a9c410e354cf06d8267181b7b1571af8c0da92 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Mon, 7 Aug 2017 14:16:46 +0200 Subject: [PATCH] mc_pos_control: parameter for maximum horizontal velocity --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 + src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++--- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index d3b6ff14ee..8502261089 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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), diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 8984a2c0e6..85b348f398 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -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