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changed defaults of MPC acceleration limit parameters

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- 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 <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-07-29 10:37:26 -04:00
committed by Daniel Agar
parent a5d3e10c67
commit 81ae85015f
1 changed files with 4 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+4 -4
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@@ -451,7 +451,7 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
* @decimal 2 * @decimal 2
* @group Multicopter Position Control * @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 * Acceleration for auto and for manual
@@ -466,7 +466,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f);
* @group Multicopter Position Control * @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 * Slow horizontal manual deceleration for manual mode
@@ -507,7 +507,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f);
* @decimal 2 * @decimal 2
* @group Multicopter Position Control * @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 * Maximum vertical acceleration in velocity controlled modes down
@@ -519,7 +519,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
* @decimal 2 * @decimal 2
* @group Multicopter Position Control * @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 * Maximum jerk limit