From caa773008a4eb055fda75f73f5992780abddc677 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 6 Apr 2018 16:02:38 +0200 Subject: [PATCH] PositionControl: degrees to radians --- src/modules/mc_pos_control/PositionControl.cpp | 4 ++++ src/modules/mc_pos_control/PositionControl.hpp | 6 +++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp index 0b8ed1c837..e29387acc7 100644 --- a/src/modules/mc_pos_control/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl.cpp @@ -61,6 +61,7 @@ PositionControl::PositionControl() MPC_THR_MIN_h = param_find("MPC_THR_MIN"); MPC_THR_MIN_h = param_find("MPC_MANTHR_MIN"); MPC_TILTMAX_AIR_h = param_find("MPC_TILTMAX_AIR"); + MPC_MAN_TILT_MAX_h = param_find("MPC_MAN_TILT_MAX"); _parameter_sub = orb_subscribe(ORB_ID(parameter_update)); // set parameter the very first time @@ -334,5 +335,8 @@ void PositionControl::_setParams() param_get(MPC_THR_MIN_h, &MPC_THR_MIN); param_get(MPC_MANTHR_MIN_h, &MPC_MANTHR_MIN); param_get(MPC_TILTMAX_AIR_h, &MPC_TILTMAX_AIR); + MPC_TILTMAX_AIR = math::radians(MPC_TILTMAX_AIR); param_get(MPC_MAN_TILT_MAX_h, &MPC_MAN_TILT_MAX); + MPC_MAN_TILT_MAX = math::radians(MPC_MAN_TILT_MAX); + } diff --git a/src/modules/mc_pos_control/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl.hpp index ee80c88ced..74796d5862 100644 --- a/src/modules/mc_pos_control/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl.hpp @@ -49,7 +49,7 @@ namespace Controller { /** Constraints that depends on mode and are lower * than the global limits. - * tilt_max: Cannot exceed PI/2 + * tilt_max: Cannot exceed PI/2 radians * vel_max_z_up: Cannot exceed maximum global velocity upwards * @see MPC_TILTMAX_AIR * @see MPC_Z_VEL_MAX_DN @@ -198,8 +198,8 @@ private: float MPC_XY_VEL_MAX{1.0f}; /**< maximum speed in the horizontal direction */ float MPC_Z_VEL_MAX_DN{1.0f}; /**< maximum speed in downwards direction */ float MPC_Z_VEL_MAX_UP{1.0f}; /**< maximum speed in upwards direction */ - float MPC_TILTMAX_AIR{1.5}; /**< maximum tilt for any position/velocity controlled mode */ - float MPC_MAN_TILT_MAX{3.1}; /**< maximum tilt for manual/altitude mode */ + float MPC_TILTMAX_AIR{1.5}; /**< maximum tilt for any position/velocity controlled mode in radians */ + float MPC_MAN_TILT_MAX{3.1}; /**< maximum tilt for manual/altitude mode in radians */ // Parameter handles int _parameter_sub { -1 };