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mc_pos_control: improved smooth takeoff and used it for manual takeoff as well

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adresses:
there were setpoint twitches at the beginning and end of my smooth takeoff routine
it was to slow and not configurable
it was only available for automatic takeoff
This commit is contained in:
Matthias Grob
2017-04-27 14:05:20 +02:00
parent 75872b0713
commit 9a162a24bb
2 changed files with 47 additions and 20 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+12
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@@ -543,3 +543,15 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT1, 10.0f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.0f);
/**
* Position control smooth takeoff ramp time constant
*
* Increasing this value will make automatic and manual takeoff slower.
* If it's too slow the drone might scratch the ground and tip over.
*
* @min 0.1
* @max 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TKO_RAMP_T, 0.4f);