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Use the new trajectory constraints to synchronize and limit velocities

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This commit is contained in:
Julian Kent
2019-12-12 14:51:58 +01:00
committed by Mathieu Bresciani
parent 025c044530
commit 75d7a049c1
4 changed files with 88 additions and 85 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
-10
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@@ -259,16 +259,6 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
/**
* Proportional gain for vertical trajectory position error
*
* @min 0.1
* @max 1.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_TRAJ_P, 0.3f);
/**
* Cruise speed when angle prev-current/current-next setpoint
* is 90 degrees. It should be lower than MPC_XY_CRUISE.