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PositionControl: make distinction for throttle minimum depending on mode

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 59087afac8
commit 7f68417d19
2 changed files with 11 additions and 4 deletions
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src/modules/mc_pos_control/PositionControl.hpp
+4 -1
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@@ -111,7 +111,8 @@ private:
param_t _VelMaxZup_h{PARAM_INVALID};
param_t _ThrHover_h{PARAM_INVALID};
param_t _ThrMax_h{PARAM_INVALID};
param_t _ThrMin_h{PARAM_INVALID};
param_t _ThrMinPosition_h{PARAM_INVALID};
param_t _ThrMinStab_h{PARAM_INVALID};
/* Parameters */
matrix::Vector3f Pp, Pv, Iv, Dv = matrix::Vector3f{0.0f, 0.0f, 0.0f};
@@ -129,6 +130,8 @@ private:
float _ThrHover{0.5f};
float _ThrLimit[2]; //index 0: max, index 1: min
float _ThrMinPosition{0.0f}; // minimum throttle for any position controlled mode
float _ThrMinStab{0.0f}; // minimum throttle for stabilized
bool _skipController{false};
/* Helper methods */