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GotoControl: Save flash

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This commit is contained in:
Matthias Grob
2023-11-28 16:19:41 +01:00
parent 7b4712cb29
commit 8bb20db7da
8 changed files with 66 additions and 62 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+11
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@@ -167,6 +167,17 @@ void MulticopterPositionControl::parameters_update(bool force)
Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()),
Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get()));
_control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get());
_goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get());
_goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get());
_goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get());
_goto_control.setParamMpcJerkAuto(_param_mpc_jerk_auto.get());
_goto_control.setParamMpcXyCruise(_param_mpc_xy_cruise.get());
_goto_control.setParamMpcXyErrMax(_param_mpc_xy_err_max.get());
_goto_control.setParamMpcXyVelMax(_param_mpc_xy_vel_max.get());
_goto_control.setParamMpcYawrautoMax(_param_mpc_yawrauto_max.get());
_goto_control.setParamMpcYawrautoAcc(_param_mpc_yawrauto_acc.get());
_goto_control.setParamMpcZVAutoDn(_param_mpc_z_v_auto_dn.get());
_goto_control.setParamMpcZVAutoUp(_param_mpc_z_v_auto_up.get());
// Check that the design parameters are inside the absolute maximum constraints
if (_param_mpc_xy_cruise.get() > _param_mpc_xy_vel_max.get()) {