From bf5e81a34f0f3db0ef68b402e95a13ff7a7e14cf Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Mon, 7 Aug 2017 14:17:41 +0200 Subject: [PATCH] mc_pos_control param: acceleration parameters adjustment and addition --- src/modules/mc_pos_control/mc_pos_control_params.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 85b348f398..ba75cb9645 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -402,7 +402,7 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f); PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); /** - * Maximum horizonal acceleration in velocity controlled modes + * Maximum horizontal acceleration for auto mode and maximum deceleration for manual mode * * @unit m/s/s * @min 2.0 @@ -411,10 +411,10 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 10.0f); /** - * Maximum horizonal braking deceleration in velocity controlled modes + * Maximum horizontal manual acceleration * * @unit m/s/s * @min 2.0 @@ -423,7 +423,7 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_DEC_HOR_MAX, 10.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAN, 5.0f); /** * Maximum vertical acceleration in velocity controlled modes upward @@ -435,7 +435,7 @@ PARAM_DEFINE_FLOAT(MPC_DEC_HOR_MAX, 10.0f); * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 5.0f); +PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f); /** * Maximum vertical acceleration in velocity controlled modes down