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mc_pos_control: limit altitude

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mc_pos_control: delete spaces

mc_pos_control: cleanup and threshold for velocity control to altitude control when close to max altitude
This commit is contained in:
Dennis Mannhart
2017-02-27 22:54:19 +01:00
committed by Lorenz Meier
parent 497a210742
commit c8690fd072
2 changed files with 49 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+12 -1
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@@ -424,7 +424,6 @@ PARAM_DEFINE_FLOAT(MPC_HOLD_XY_DZ, 0.1f);
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_Z_DZ, 0.1f);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*
@@ -519,3 +518,15 @@ PARAM_DEFINE_INT32(MPC_ALT_MODE, 0);
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_MAN_EXPO, 0.0f);
/**
* Maximum altitude that can be reached
*
* @unit m
* @min 5
* @max 150
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ALTITUDE_MAX, 10.0f);