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mc_pos_control: combine separate pitch and roll maximum tilt angles into one

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because there is no sense to have different angle scalings into different directions
it would lead to unintuitive piloting experience
acceleration is directly coupled to the tilt angle regardless of possible assymetric multicopter vehicles
This commit is contained in:
Matthias Grob
2017-04-20 13:20:01 +02:00
parent d1b270d5b2
commit 709bd8cb28
2 changed files with 9 additions and 26 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+2 -13
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@@ -359,7 +359,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.5f);
PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
/**
* Max manual roll
* Maximal tilt angle in manual or altitude mode
*
* @unit deg
* @min 0.0
@@ -367,18 +367,7 @@ PARAM_DEFINE_FLOAT(MPC_TKO_SPEED, 1.5f);
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_R_MAX, 35.0f);
/**
* Max manual pitch
*
* @unit deg
* @min 0.0
* @max 90.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
PARAM_DEFINE_FLOAT(MPC_MAN_TILT_MAX, 35.0f);
/**
* Max manual yaw rate