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mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness

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This commit is contained in:
Beat Küng
2021-02-03 13:25:37 +01:00
committed by Lorenz Meier
parent 2a0a82fd90
commit 14bf9cf753
4 changed files with 126 additions and 1 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+15 -1
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@@ -135,7 +135,21 @@ private:
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
(ParamFloat<px4::params::SYS_VEHICLE_RESP>) _param_sys_vehicle_resp,
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max,
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */