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PositionControl: degrees to radians

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 4a9e5941b6
commit caa773008a
2 changed files with 7 additions and 3 deletions
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src/modules/mc_pos_control/PositionControl.hpp
+3 -3
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@@ -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 };