From 27f020af05e67c85cddeb1487af28efc77247120 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 21 Sep 2017 13:16:40 +0200 Subject: [PATCH] mc_att_control: remove the hardcoded max throttle limit of 0.9 for ACRO --- src/modules/mc_att_control/mc_att_control_main.cpp | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 9a080779b2..8528d5f57c 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -92,10 +92,8 @@ */ extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[]); -#define YAW_DEADZONE 0.05f #define MIN_TAKEOFF_THRUST 0.2f #define TPA_RATE_LOWER_LIMIT 0.05f -#define MANUAL_THROTTLE_MAX_MULTICOPTER 0.9f #define ATTITUDE_TC_DEFAULT 0.2f #define AXIS_INDEX_ROLL 0 @@ -635,7 +633,7 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.yaw_auto_max, &_params.yaw_auto_max); _params.auto_rate_max(2) = math::radians(_params.yaw_auto_max); - /* manual rate control scale and auto mode roll/pitch rate limits */ + /* manual rate control scale and acro mode roll/pitch rate limits */ param_get(_params_handles.acro_roll_max, &v); _params.acro_rate_max(0) = math::radians(v); param_get(_params_handles.acro_pitch_max, &v); @@ -1222,15 +1220,13 @@ MulticopterAttitudeControl::task_main() _v_rates_sp_pub = orb_advertise(_rates_sp_id, &_v_rates_sp); } - //} - } else { /* attitude controller disabled, poll rates setpoint topic */ if (_v_control_mode.flag_control_manual_enabled) { /* manual rates control - ACRO mode */ _rates_sp = math::Vector<3>(_manual_control_sp.y, -_manual_control_sp.x, _manual_control_sp.r).emult(_params.acro_rate_max); - _thrust_sp = math::min(_manual_control_sp.z, MANUAL_THROTTLE_MAX_MULTICOPTER); + _thrust_sp = _manual_control_sp.z; /* publish attitude rates setpoint */ _v_rates_sp.roll = _rates_sp(0);