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Omni Pos-Ctrl: Defined MC_OMNI_MODE PX4 parameter in the position controller

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This commit is contained in:
Azarakhsh Keipour
2020-01-21 18:23:07 -05:00
parent 1882ff6b4b
commit d6c27c6f37
2 changed files with 16 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -172,7 +172,8 @@ private:
(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
(ParamInt<px4::params::MC_OMNI_MODE>) _param_mc_omni_mode
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */
src/modules/mc_pos_control/mc_pos_control_params.c
+14
View File
@@ -745,3 +745,17 @@ PARAM_DEFINE_FLOAT(MPC_SPOOLUP_TIME, 1.0f);
* @group Mission
*/
PARAM_DEFINE_INT32(MPC_YAW_MODE, 0);
/**
* Omni-directional Controller mode.
*
* Specifies the heading in Auto.
*
* @min 0
* @max 2
* @value 0 tilted attitude
* @value 1 daisy-chain tilt/no-tilt attitude
* @value 2 constant zero tilt
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(MC_OMNI_MODE, 0);