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mc_pos_control: jump quicker

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In SITL, it still takes a while until a vehicle lifts off, so it seems
sensible to raise this jump gain a bit.
This commit is contained in:
Julian Oes
2016-10-23 16:25:15 +02:00
committed by Lorenz Meier
parent ff415a4f1d
commit 72e46e7ed0
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -1567,7 +1567,7 @@ MulticopterPositionControl::task_main()
if (!_takeoff_jumped) { if (!_takeoff_jumped) {
// ramp thrust setpoint up // ramp thrust setpoint up
if (_vel(2) > -(_params.tko_speed / 2.0f)) { if (_vel(2) > -(_params.tko_speed / 2.0f)) {
_takeoff_thrust_sp += 0.5f * dt; _takeoff_thrust_sp += 1.0f * dt;
_vel_sp.zero(); _vel_sp.zero();
_vel_prev.zero(); _vel_prev.zero();