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mc_pos_control/FlightTask: apply nit-pick review findings

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Matthias Grob
2019-12-11 14:03:16 +01:00
parent 82b4e766a5
commit a3d30fc970
3 changed files with 8 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+6 -4
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@@ -352,6 +352,7 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f);
/**
* Maximum horizontal velocity during landing
* Set the value higher than the otherwise expected maximum to disable any slowdown.
*
* @unit m/s
* @min 0
@@ -692,11 +693,12 @@ PARAM_DEFINE_FLOAT(MPC_YAWRAUTO_MAX, 45.0f);
/**
* Altitude for 1. step of slow landing (descend)
*
* Below this altitude descending velocity gets limited
* to a value between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
* to enable a smooth descent experience.
* The horizontal velocity also gets limited to a value
* Below this altitude:
* - descending velocity gets limited to a value
* between "MPC_Z_VEL_MAX" and "MPC_LAND_SPEED"
* - horizontal velocity gets limited to a value
* between "MPC_VEL_MANUAL" and "MPC_LAND_VEL_XY"
* for a smooth descent and landing experience.
* Value needs to be higher than "MPC_LAND_ALT2"
*
* @unit m