From 81ae85015fc86b1cbb93baf6c1e69e41716abe9b Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 23 Jul 2019 17:25:41 +0200 Subject: [PATCH] changed defaults of MPC acceleration limit parameters - vehicle will fly less aggressive - it does not make sense to set the lower acceleration limit to something that exceeds gravity if most of the vehicles do not support reverse thrust Signed-off-by: RomanBapst --- src/modules/mc_pos_control/mc_pos_control_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 2b0afeee06..cac7f8976a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -451,7 +451,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); /** * Acceleration for auto and for manual @@ -466,7 +466,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f); * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 3.0f); /** * Slow horizontal manual deceleration for manual mode @@ -507,7 +507,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.0f); /** * Maximum vertical acceleration in velocity controlled modes down @@ -519,7 +519,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 10.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f); /** * Maximum jerk limit