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mc_pos_control: limit maximum height when reliant on optical flow data

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This commit is contained in:
Paul Riseborough
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent 9028592c5f
commit 2c325414f9
2 changed files with 33 additions and 9 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+13
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@@ -447,6 +447,19 @@ PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_FLOW, 0.5f);
/**
* Maximum height above ground when reliant on optical flow.
* The height setpoint will be limited to be no greater than this value when the navigation system is completely reliant on optical flow data.
*
* @unit m
* @min 1.0
* @max 25.0
* @increment 0.5
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAX_FLOW_HGT, 3.0f);
/**
* Maximum vertical acceleration in velocity controlled modes upward
*