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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.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_THR_MIN");
MPC_THR_MIN_h = param_find("MPC_MANTHR_MIN"); MPC_THR_MIN_h = param_find("MPC_MANTHR_MIN");
MPC_TILTMAX_AIR_h = param_find("MPC_TILTMAX_AIR"); 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)); _parameter_sub = orb_subscribe(ORB_ID(parameter_update));
// set parameter the very first time // 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_THR_MIN_h, &MPC_THR_MIN);
param_get(MPC_MANTHR_MIN_h, &MPC_MANTHR_MIN); param_get(MPC_MANTHR_MIN_h, &MPC_MANTHR_MIN);
param_get(MPC_TILTMAX_AIR_h, &MPC_TILTMAX_AIR); 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); param_get(MPC_MAN_TILT_MAX_h, &MPC_MAN_TILT_MAX);
MPC_MAN_TILT_MAX = math::radians(MPC_MAN_TILT_MAX);
} }
src/modules/mc_pos_control/PositionControl.hpp
+3 -3
View File
@@ -49,7 +49,7 @@ namespace Controller
{ {
/** Constraints that depends on mode and are lower /** Constraints that depends on mode and are lower
* than the global limits. * 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 * vel_max_z_up: Cannot exceed maximum global velocity upwards
* @see MPC_TILTMAX_AIR * @see MPC_TILTMAX_AIR
* @see MPC_Z_VEL_MAX_DN * @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_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_DN{1.0f}; /**< maximum speed in downwards direction */
float MPC_Z_VEL_MAX_UP{1.0f}; /**< maximum speed in upwards 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_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 */ float MPC_MAN_TILT_MAX{3.1}; /**< maximum tilt for manual/altitude mode in radians */
// Parameter handles // Parameter handles
int _parameter_sub { -1 }; int _parameter_sub { -1 };