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position_estimator_inav default parameters changed, some fixes

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Anton Babushkin
2013-06-28 12:58:12 +04:00
parent 7b73df6440
commit 8e732fc527
3 changed files with 12 additions and 1 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control.c
+10
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@@ -209,6 +209,8 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
float pos_y_integral = 0.0f;
const float alt_ctl_dz = 0.2f;
const float pos_ctl_dz = 0.05f;
float home_alt = 0.0f;
hrt_abstime home_alt_t = 0;
thread_running = true;
@@ -288,6 +290,14 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) {
float pos_sp_speed_z = 0.0f;
if (status.flag_control_manual_enabled) {
if (local_pos.home_timestamp != home_alt_t) {
if (home_alt_t != 0) {
/* home alt changed, don't follow large ground level changes in manual flight */
local_pos_sp.z -= local_pos.home_alt - home_alt;
}
home_alt_t = local_pos.home_timestamp;
home_alt = local_pos.home_alt;
}
/* move altitude setpoint with manual controls */
float alt_sp_ctl = scale_control(manual.throttle - 0.5f, 0.5f, alt_ctl_dz);
if (alt_sp_ctl != 0.0f) {