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MC pos control: Differentiate between cruise and max velocity

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Lorenz Meier
2016-03-13 18:09:52 +01:00
parent 36a8f3f45a
commit c97dca0cdb
2 changed files with 27 additions and 9 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+14 -2
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@@ -235,10 +235,22 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.02f);
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
/**
* Nominal horizontal velocity
*
* Normal horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
*
* @unit m/s
* @min 0.0
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f);
/**
* Maximum horizontal velocity
*
* Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL).
* Maximum horizontal velocity in AUTO mode.
*
* @unit m/s
* @min 0.0
@@ -247,7 +259,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f);
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 8.0f);
PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 12.0f);
/**
* Horizontal velocity feed forward