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mc_pos_control auto: replace min_cruise_speed with cruise_speed_90; take care of case when cruise_speed_90 is exactly in the middle of max and min

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This commit is contained in:
Dennis Mannhart
2017-09-11 02:08:22 -07:00
committed by Lorenz Meier
parent 3538f028b4
commit 947d63fb11
2 changed files with 69 additions and 44 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+7 -7
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@@ -245,20 +245,20 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Minimum horizontal velocity in mission
* Cruise speed when angle prev-current/current-next setpoint
* is 90 degrees. It should be lower than MPC_XY_CRUISE.
*
* Normal horizontal velocity in AUTO modes (includes
* also RTL / hold / etc.) and endpoint for
* position stabilized mode (POSCTRL).
* Applies only in AUTO modes (includes
* also RTL / hold / etc.)
*
* @unit m/s
* @min 0.05
* @max 1.0
* @min 1.0
* @max
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
PARAM_DEFINE_FLOAT(MPC_CRUISE_90, 3.0f);
/**
* Maximum horizontal velocity setpoint for manual controlled mode