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change angle parmeter to degrees

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This commit is contained in:
baumanta
2019-08-07 15:29:13 +02:00
committed by Roman Bapst
parent f80a539faa
commit e91614c791
2 changed files with 6 additions and 5 deletions
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src/lib/CollisionPrevention/CollisionPrevention.cpp
+2 -1
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@@ -215,7 +215,8 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
//check if the bin must be considered regarding the given stick input //check if the bin must be considered regarding the given stick input
Vector2f bin_direction = {cos(angle), sin(angle)}; Vector2f bin_direction = {cos(angle), sin(angle)};
if (setpoint_dir.dot(bin_direction) > 0 && setpoint_dir.dot(bin_direction) > cosf(_param_mpc_col_prev_ang.get())) { if (setpoint_dir.dot(bin_direction) > 0
&& setpoint_dir.dot(bin_direction) > cosf(math::radians(_param_mpc_col_prev_ang.get()))) {
//calculate max allowed velocity with a P-controller (same gain as in the position controller) //calculate max allowed velocity with a P-controller (same gain as in the position controller)
float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction)); float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction));
float delay_distance = curr_vel_parallel * _param_mpc_col_prev_dly.get(); float delay_distance = curr_vel_parallel * _param_mpc_col_prev_dly.get();
src/lib/CollisionPrevention/collisionprevention_params.c
+4 -4
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@@ -64,13 +64,13 @@ PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, -1.0f);
PARAM_DEFINE_FLOAT(MPC_COL_PREV_DLY, 0.f); PARAM_DEFINE_FLOAT(MPC_COL_PREV_DLY, 0.f);
/** /**
* Angle at which the vehicle can fly away from obstacles * Angle left/right from the commanded setpoint in which the range data is used to calculate speed limitations. All data further from the commanded direction is not considered.
* *
* Only used in Position mode. * Only used in Position mode.
* *
* @min 0 * @min 0
* @max 1.570796 * @max 90
* @unit [rad] * @unit [deg]
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_COL_PREV_ANG, 0.785f); PARAM_DEFINE_FLOAT(MPC_COL_PREV_ANG, 45.f);