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expose pos-hold parameters (also allows different behaviours)

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This commit is contained in:
v01d
2015-10-16 11:13:52 +02:00
committed by tumbili
parent 324c27b941
commit da3087e54c
2 changed files with 50 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+28
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@@ -265,3 +265,31 @@ PARAM_DEFINE_FLOAT(MPC_MAN_P_MAX, 35.0f);
*/
PARAM_DEFINE_FLOAT(MPC_MAN_Y_MAX, 120.0f);
/**
* Deadzone of X,Y,Z where position hold is enabled
*
* @unit percent
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_DZ, 0.1f);
/**
* Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
*
* @unit m/s
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.5f);
/**
* Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
*
* @unit m/s
* @min 0.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.5f);