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mc_att_control: remove the hardcoded max throttle limit of 0.9 for ACRO

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This commit is contained in:
Beat Küng
2017-10-01 15:36:21 +02:00
committed by Matthias Grob
parent 0d5480e540
commit 27f020af05
1 changed files with 2 additions and 6 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -6
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@@ -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);