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ManualPosition: Limit horizontal speed during landing

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bresch
2019-12-11 14:03:16 +01:00
committed by Matthias Grob
parent 944bf54d84
commit 4ba672a7ba
7 changed files with 56 additions and 20 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+15 -2
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@@ -350,6 +350,16 @@ PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 12.0f);
*/
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
/**
* Maximum horizontal velocity during landing
*
* @unit m/s
* @min 0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_VEL_XY, 2.f);
/**
* Enable user assisted descent speed for autonomous land routine.
* When enabled, descent speed will be equal to MPC_LAND_SPEED at half throttle,
@@ -684,7 +694,9 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
*
* Below this altitude descending velocity gets limited
* to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
* to enable a smooth descent experience
* to enable a smooth descent experience.
* The horizontal velocity also gets limited to a value
* between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY"
* Value needs to be higher than "MPC_LAND_ALT2"
*
* @unit m
@@ -698,7 +710,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
/**
* Altitude for 2. step of slow landing (landing)
*
* Below this altitude descending velocity gets limited to "MPC_LAND_SPEED"
* Below this altitude descending and horizontal velocities get
* limited to "MPC_LAND_SPEED" and "MPC_LAND_VEL_XY", respectively.
* Value needs to be lower than "MPC_LAND_ALT1"
*
* @unit m