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mc_pos_control auto: set speed at 90degrees to 1

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This commit is contained in:
Dennis Mannhart
2017-05-09 10:46:21 +02:00
committed by Lorenz Meier
parent 38f796f991
commit c4c18caed4
2 changed files with 5 additions and 5 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -1550,8 +1550,8 @@ void MulticopterPositionControl::control_auto(float dt)
* the velocity at target should be 1/5 * cruising speed;
* angle = 2 -> vel_close = min_cruising_speed */
/* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 */
float middle_cruise_speed = get_cruising_speed_xy() / 5.0f;
/* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 = 90degrees */
float middle_cruise_speed = 1.0f;
/* make sure min cruise speed is always smaller than middle cruise speed but larger than 0*/
float min_cruise_speed = (_min_cruise_speed.get() < middle_cruise_speed) ? _min_cruise_speed.get() : middle_cruise_speed
src/modules/mc_pos_control/mc_pos_control_params.c
+3 -3
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@@ -252,13 +252,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
* position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 0.5
* @max 8.0
* @min 0.05
* @max 1.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 1.0f);
PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f);
/**
* Maximum horizontal velocity setpoint for manual controlled mode