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mc_pos_control: target_threshold value change

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mc_pos_control: reorder if statement

mc_pos_control:  add get function for cruising speed
This commit is contained in:
Dennis Mannhart
2017-03-22 15:21:34 +01:00
parent 0d6f994145
commit 4c4f214ec7
2 changed files with 53 additions and 72 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+1 -17
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@@ -256,22 +256,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Nominal horizontal velocity minimum cruise speed when close to target
*
* Normal horizontal velocity in AUTO modes (includes
* also RTL / hold / etc.) and endpoint for
* position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 0.0
* @max 10.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
/**
* Distance Threshold Horizontal Auto
*
@@ -286,7 +270,7 @@ PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 10.0f);
PARAM_DEFINE_FLOAT(MPC_TARGET_THRE, 15.0f);
/**
* Maximum horizontal velocity