fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-03 07:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control : update to use new navigation limits architechture

Browse Source
This commit is contained in:
Mohammed Kabir
2018-06-09 13:38:04 +02:00
committed by Lorenz Meier
parent 8f5ceac936
commit c1169eb38b
2 changed files with 54 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_params.c
+4 -3
View File
@@ -434,8 +434,9 @@ PARAM_DEFINE_FLOAT(MPC_ACC_HOR, 5.0f);
PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
/**
* Horizontal acceleration in manual modes when optical flow ground speed limit is removed.
* If full stick is being applied and the EKF starts using GPS whilst using optical flow,
* Horizontal acceleration in manual modes when te estimator speed limit is removed.
* If full stick is being applied and the estimator stops demanding a speed limit,
* which it had been before (e.g if GPS is gained while flying on optical flow/vision only),
* the vehicle will accelerate at this rate until the normal position control speed is achieved.
*
* @unit m/s/s
@@ -445,7 +446,7 @@ PARAM_DEFINE_FLOAT(MPC_DEC_HOR_SLOW, 5.0f);
* @decimal 1
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_FLOW, 0.5f);
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_ESTM, 0.5f);
/**
* Maximum vertical acceleration in velocity controlled modes upward