fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-29 14:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Rename params, add transitional support

Browse Source
This commit is contained in:
Lorenz Meier
2016-05-10 09:27:00 +02:00
parent 468b0b25de
commit c31c29097d
2 changed files with 25 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_params.c
+16 -6
View File
@@ -189,12 +189,12 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_I, 0.02f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
/**
* Maximum vertical velocity
* Maximum vertical ascent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.0
* @min 0.5
* @max 8.0
* @decimal 1
* @group Multicopter Position Control
@@ -202,16 +202,26 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_UP, 3.0f);
/**
* Maximum vertical velocity in positive z direction (descending)
* Maximum vertical descent velocity
*
* Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL).
*
* @unit m/s
* @min 0.0
* @max 8.0
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DOWN, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 1.0f);
/**
* Transitional support, do not change / use
*
* @unit m/s
* @min 0.5
* @max 4.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX_DN, 1.0f);
/**
* Vertical velocity feed forward