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mc_pos_control: added separate velocity control setpoint slewrate for deceleration

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to improve the smooth user experience while accelerating
but not have any delay when braking
This commit is contained in:
Matthias Grob
2017-03-22 15:21:34 +01:00
committed by Dennis Mannhart
parent b32e5e7ec0
commit 5e2f18ebaa
2 changed files with 28 additions and 16 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+12
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@@ -418,6 +418,18 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
/**
* Maximum horizonal braking deceleration in velocity controlled modes
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_DEC_HOR_MAX, 10.0f);
/**
* Maximum vertical acceleration in velocity controlled modes upward
*