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Remove horizontal slow down close to ground

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Because based on the numerous complaints it was disabled by default
(only velocities above 10m/s were limited)
and since then no one intentionally used it anymore. But
there were some minor investigations of drones not reaching
their maximum speed which always showed 10m/s.
This commit is contained in:
Matthias Grob
2021-06-25 09:51:04 +02:00
committed by Lorenz Meier
parent 055c9db178
commit 5ac5399d83
5 changed files with 4 additions and 40 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.hpp
+1 -2
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@@ -172,8 +172,7 @@ private:
(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau,
(ParamFloat<px4::params::MPC_XY_VEL_ALL>) _param_mpc_xy_vel_all,
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy
(ParamFloat<px4::params::MPC_Z_VEL_ALL>) _param_mpc_z_vel_all
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */