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mc_pos_control_params: clarify maximum vertical velocity parameters

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This commit is contained in:
Matthias Grob 2023-06-22 15:29:34 +02:00
parent 439670444f
commit 7e79d65aa4
2 changed files with 34 additions and 28 deletions
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34
src/modules/mc_pos_control/multicopter_position_control_limits_params.c
View File

@ -46,6 +46,40 @@
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.f);
/**
* Maximum ascent velocity
*
* Absolute maximum for all climb rate controlled modes.
* In manually piloted modes full stick deflection commands this velocity.
*
* For default autonomous velocity see MPC_Z_V_AUTO_UP
*
* @unit m/s
* @min 0.5
* @max 8
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
/**
* Maximum descent velocity
*
* Absolute maximum for all climb rate controlled modes.
* In manually piloted modes full stick deflection commands this velocity.
*
* For default autonomous velocity see MPC_Z_V_AUTO_UP
*
* @unit m/s
* @min 0.5
* @max 4
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
/**
* Maximum tilt angle in air
*

28
src/modules/mc_pos_control/multicopter_position_mode_params.c
View File

@ -96,34 +96,6 @@ PARAM_DEFINE_FLOAT(MPC_VEL_MAN_SIDE, -1.f);
*/
PARAM_DEFINE_FLOAT(MPC_VEL_MAN_BACK, -1.f);
/**
* Maximum ascent velocity in manually piloted climb rate controlled modes and offboard
*
* For autonomous modes see MPC_Z_V_AUTO_UP
*
* @unit m/s
* @min 0.5
* @max 8
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.f);
/**
* Maximum descent velocity in manually piloted climb rate controlled modes and offboard
*
* For autonomous modes, see MPC_Z_V_AUTO_DN
*
* @unit m/s
* @min 0.5
* @max 4
* @increment 0.1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.5f);
/**
* Maximum horizontal acceleration
*