fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 06:21:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

MC: Split yaw speed limiting between manual and velocity control modes

Browse Source
This commit is contained in:
Lorenz Meier
2016-01-31 20:18:12 +01:00
parent 56cd54ab71
commit 7455a833d0
2 changed files with 32 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_params.c
+14 -2
View File
@@ -251,6 +251,18 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
/**
* Max yaw rate
*
* A value of significantly over 120 degrees per second can already lead to mixer saturation.
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 120.0f);
/**
* Max yaw rate in auto mode
*
* Limit for yaw rate, has effect for large rotations in autonomous mode,
* to avoid large control output and mixer saturation. A value of significantly
* over 60 degrees per second can already lead to mixer saturation.
@@ -258,10 +270,10 @@ PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 220.0f);
*
* @unit deg/s
* @min 0.0
* @max 360.0
* @max 120.0
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(MC_YAWRATE_MAX, 45.0f);
PARAM_DEFINE_FLOAT(MC_YAWRAUTO_MAX, 45.0f);
/**
* Max acro roll rate