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FlightTaskManualStabilized: replace minimum throttle with minum throttle specific for stabilized

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Dennis Mannhart
2018-03-01 17:20:07 +01:00
committed by Lorenz Meier
parent 65603d7de7
commit 59087afac8
2 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+1 -1
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@@ -122,7 +122,7 @@ float FlightTaskManualStabilized::_throttleCurve()
float throttle = -((_sticks(2) - 1.0f) * 0.5f);
if (throttle < 0.5f) {
return (_throttle_hover.get() - _throttle_min.get()) / 0.5f * throttle + _throttle_min.get();
return (_throttle_hover.get() - _throttle_min_stabilized.get()) / 0.5f * throttle + _throttle_min_stabilized.get();
} else {
return (_throttle_max.get() - _throttle_hover.get()) / 0.5f * (throttle - 1.0f) + _throttle_max.get();
src/lib/FlightTasks/tasks/FlightTaskManualStabilized.hpp
+1 -1
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@@ -69,7 +69,7 @@ private:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManual,
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _yaw_rate_scaling, /**< scaling factor from stick to yaw rate */
(ParamFloat<px4::params::MPC_MAN_TILT_MAX>) _tilt_max_man, /**< maximum tilt allowed for manual flight */
(ParamFloat<px4::params::MPC_THR_MIN>) _throttle_min, /**< minimum throttle that always has to be satisfied in flight*/
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _throttle_min_stabilized, /**< minimum throttle for stabilized */
(ParamFloat<px4::params::MPC_THR_MAX>) _throttle_max, /**< maximum throttle that always has to be satisfied in flight*/
(ParamFloat<px4::params::MPC_THR_HOVER>) _throttle_hover /**< throttle value at which vehicle is at hover equilibrium */
)