added parameter for maximal roll angle

src/lib/ecl/l1/ecl_l1_pos_controller.cpp

@@ -43,7 +43,7 @@
 float ECL_L1_Pos_Controller::nav_roll()
 {
 	float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G);
-	ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f);
+	ret = math::constrain(ret, -_roll_lim_rad, _roll_lim_rad);
 	return ret;
 }
 

src/lib/ecl/l1/ecl_l1_pos_controller.h

@@ -222,6 +222,15 @@ public:
 		_K_L1 = 4.0f * _L1_damping * _L1_damping;
 	}
 
+
+	/**
+	 * Set the maximum roll angle output in radians
+	 *
+	 */
+	void set_l1_roll_limit(float roll_lim_rad) {
+		_roll_lim_rad = roll_lim_rad;
+	}
+
 private:
 
 	float _lateral_accel;		///< Lateral acceleration setpoint in m/s^2
@@ -238,6 +247,8 @@ private:
 	float _K_L1;			///< L1 control gain for _L1_damping
 	float _heading_omega;		///< Normalized frequency
 
+	float _roll_lim_rad;  ///<maximum roll angle
+
 	/**
 	 * Convert a 2D vector from WGS84 to planar coordinates.
 	 *