fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-04 22:50:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

PositionControl: degrees to radians

Browse Source
This commit is contained in:
Dennis Mannhart
2018-04-06 16:02:38 +02:00
committed by Lorenz Meier
parent 4a9e5941b6
commit caa773008a
2 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/PositionControl.cpp
+4
View File
@@ -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);
}