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position_estimator_inav: "landed" detector implemented, bugfixes

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This commit is contained in:
Anton Babushkin
2013-08-20 12:17:15 +02:00
parent de124619b6
commit db950f7489
6 changed files with 118 additions and 46 deletions
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src/modules/multirotor_pos_control/multirotor_pos_control.c
+4
View File
@@ -459,6 +459,10 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
/* publish local position setpoint as projection of global position setpoint */
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp);
}
/* reset setpoints after non-manual modes */
reset_sp_xy = true;
reset_sp_z = true;
}
/* run position & altitude controllers, calculate velocity setpoint */
src/modules/multirotor_pos_control/multirotor_pos_control_params.c
+2 -2
View File
@@ -41,8 +41,8 @@
#include "multirotor_pos_control_params.h"
/* controller parameters */
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.3f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.7f);
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f);
PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f);
PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f);
PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f);