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baumanta
2018-11-20 14:11:33 +01:00
committed by Beat Küng
parent ce7dc85450
commit 27dc60a419
2 changed files with 4 additions and 4 deletions
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src/lib/CollisionAvoidance/CollisionAvoidance.cpp
+1 -1
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@@ -165,7 +165,7 @@ void CollisionAvoidance::modifySetpoint(Vector2f &original_setpoint, const float
|| new_setpoint(1) > 1.05f * original_setpoint(1));
if (currently_interfering && (currently_interfering != _interfering)) {
mavlink_log_critical(&_mavlink_log_pub, "Collision Avoidance starts interfering");
mavlink_log_critical(&_mavlink_log_pub, "Collision Warning");
}
_interfering = currently_interfering;
src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
View File
@@ -739,16 +739,16 @@ PARAM_DEFINE_INT32(MPC_OBS_AVOID, 0);
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
/**
* Flag to enable the use of a range sensor for collision avoidance.
* Flag to enable the use of a MAVLink range sensor for collision avoidance.
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_COL_AVOID, 0);
/**
* Minimum Obstacle Distance at which the vehicle should not get closer
* Minimum distance the vehicle should keep to all obstacles
*
* Only relevant if in Position control and the range sensor is active
* Only used in Position mode when collision avoidance is active (see MPC_COL_AVOID).
*
* @min 0
* @max 15