Omni Att-Ctrl: Added a new parameter for controlling the maximum horizontal thrust

- OMNI_MAX_HOR_THR parameter specifies the maximum horizontal thrust compared to the maximum possible thrust generated by the vehicle for an omnidirectional multirotor

src/modules/mc_att_control/mc_att_control.hpp

@@ -159,7 +159,9 @@ private:
 
 		(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode,
 
-		(ParamInt<px4::params::OMNI_ATT_MODE>) _param_omni_att_mode
+		/* Omnidirectional vehicle params */
+		(ParamInt<px4::params::OMNI_ATT_MODE>) _param_omni_att_mode,
+		(ParamFloat<px4::params::OMNI_MAX_HOR_THR>) _param_omni_max_hor_thr
 	)
 
 	bool _is_tailsitter{false};

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -241,8 +241,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 			h_thrust /= h_thrust_norm;
 		}
 
-		const float max_xy_thrust_ratio = 0.3;
+		h_thrust *= _param_omni_max_hor_thr.get();
-		h_thrust *= max_xy_thrust_ratio;
 
 		// Check if the total thrust has exceeded the maximum
 		Vector3f total_thrust = Vector3f(h_thrust(0), h_thrust(1), z_thrust);

src/modules/mc_att_control/mc_att_control_params.c

@@ -144,3 +144,18 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 200.0f);
  * @group Multicopter Attitude Control
  */
 PARAM_DEFINE_FLOAT(MC_RATT_TH, 0.8f);
+
+/**
+ * Maximum horizontal thrust ratio for omnidirectional vehicles
+ *
+ * Specifies the maximum horizontal thrust compared to the maximum possible
+ * thrust generated by the vehicle for an omnidirectional multirotor. The
+ * value of this parameter does not affect the behavior if the attitude mode
+ * is not set to one of omni-directional modes.
+ *
+ * @min 0
+ * @max 1
+ * @decimal 2
+ * @group Multicopter Attitude Control
+ */
+PARAM_DEFINE_FLOAT(OMNI_MAX_HOR_THR, 0.3f);