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mc_pos_control_params: lower jerk configuration

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because of tighter tracking with acceleration feed-forward.
This commit is contained in:
Matthias Grob
2020-02-22 19:45:19 +01:00
parent b79b095ce7
commit bc2579f3be
2 changed files with 3 additions and 6 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
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@@ -531,7 +531,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.0f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 20.0f);
PARAM_DEFINE_FLOAT(MPC_JERK_MAX, 8.0f);
/**
* Velocity-based jerk limit
@@ -564,13 +564,13 @@ PARAM_DEFINE_FLOAT(MPC_JERK_MIN, 8.0f);
* agility.
*
* @unit m/s/s/s
* @min 5.0
* @min 1.0
* @max 80.0
* @increment 1
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 8.0f);
PARAM_DEFINE_FLOAT(MPC_JERK_AUTO, 4.0f);
/**
* Altitude control mode.