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AutoSmoothVel - scale down acc_hor using traj_p parameter in the computation of the maximum waypoint entrance speed

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bresch
2019-07-19 14:37:03 +02:00
committed by Mathieu Bresciani
parent de10f1e04d
commit b1698b78bc
2 changed files with 10 additions and 10 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
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@@ -253,17 +253,17 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
* Proportional gain for horizontal trajectory position error
*
* @min 0.1
* @max 5.0
* @max 1.0
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.3f);
PARAM_DEFINE_FLOAT(MPC_XY_TRAJ_P, 0.5f);
/**
* Proportional gain for vertical trajectory position error
*
* @min 0.1
* @max 5.0
* @max 1.0
* @decimal 1
* @group Multicopter Position Control
*/