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limit maximal desired horizontal acceleration

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tumbili
2015-12-18 15:55:16 +00:00
committed by Lorenz Meier
parent 699c5f2f6d
commit c1e40bdd60
2 changed files with 40 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+10
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@@ -309,3 +309,13 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.5f);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
/**
* Maximum horizonal acceleration in velocity controlled modes
*
* @unit m/s/s
* @min 2.0
* @max 10.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 4.0f);