From 70050ae4f571f0179a97f099bc88696231cf6283 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 3 Jun 2021 16:50:19 +0200 Subject: [PATCH] mc_pos_control_params: correct MPC_POS_MODE docs since 1 is depracated --- ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark | 1 - src/modules/mc_pos_control/mc_pos_control_params.c | 4 ++-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark index c152153cf0..3dce88f318 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark +++ b/ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark @@ -71,7 +71,6 @@ param set-default MPC_JERK_AUTO 4 param set-default MPC_LAND_SPEED 1 param set-default MPC_MAN_TILT_MAX 25 param set-default MPC_MAN_Y_MAX 40 -param set-default MPC_POS_MODE 3 param set-default MPC_SPOOLUP_TIME 1.5 param set-default MPC_THR_HOVER 0.45 param set-default MPC_TILTMAX_AIR 25 diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index aaff96e00b..2ed13f323d 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -499,7 +499,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); /** * Acceleration for auto and for manual * - * Note: In manual, this parameter is only used in MPC_POS_MODE 1. + * Note: In manual, this parameter is only used in MPC_POS_MODE 4. * * @unit m/s^2 * @min 2.0 @@ -544,7 +544,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f); * * Setting this to the maximum value essentially disables the limit. * - * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 1, 3 or 4. + * Note: This is only used when MPC_POS_MODE is set to a smoothing mode 3 or 4. * * @unit m/s^3 * @min 0.5