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mc_pos_control: idle to armed state delay controlled by parameter MPC_IDLE_TKF

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent ab1ae1fb4e
commit 18a3c08659
2 changed files with 25 additions and 10 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+16
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@@ -628,6 +628,22 @@ PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);
*/
PARAM_DEFINE_INT32(MPC_POS_MODE, 1);
/**
* Delay from idle state to arming state.
*
* For altitude controlled modes, the transition from
* idle to armed state is delayed by MPC_IDLE_TKO time to ensure
* that the propellers have reached idle speed before attempting a
* takeoff. This delay is particularly useful for vehicles with large
* propellers.
*
* @min 0
* @max 10
* @unit sec
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_IDLE_TKO, 0.0f);
/**
* Flag to enable obstacle avoidance
* Temporary Parameter to enable interface testing