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mc_pos_control_params: update jerk params (limits + defaults + description)

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This commit is contained in:
Beat Küng
2018-11-06 22:17:00 +01:00
committed by Roman Bapst
parent 22780efcd0
commit d8cb6bb834
2 changed files with 34 additions and 20 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+1 -1
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@@ -140,7 +140,7 @@ ManualSmoothingXY::_setStateAcceleration(const Vector2f &vel_sp, const Vector2f
// very slow at low speed.
_jerk_state_dependent = 1e6f; // default
if (_jerk_max.get() > _jerk_min.get()) {
if (_jerk_max.get() > _jerk_min.get() && _jerk_min.get() > FLT_EPSILON) {
_jerk_state_dependent = math::min((_jerk_max.get() - _jerk_min.get())
/ _vel_max * vel.length() + _jerk_min.get(), _jerk_max.get());