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Omni Pos-Ctrl: Reduced jerking when a large command is given in offboard

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- OMNI_ATT_MODE = 2 uses OMNI_DFC_MAX_THR parameter to limit the horizontal commanded thrust now
- Other modes are not affected
This commit is contained in:
Azarakhsh Keipour
2020-08-03 22:22:03 -04:00
parent 431a0cb11e
commit f3e21ddc7a
5 changed files with 14 additions and 6 deletions
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ROMFS/px4fmu_common/init.d-posix/6101_hexa_x_tilt
+2 -2
View File
@@ -25,7 +25,7 @@ then
param set MPC_Z_VEL_P 0.3
param set MC_PITCHRATE_MAX 20.0
param set MC_ROLLRATE_MAX 20.0
# param set MC_YAWRATE_MAX 60.0
param set MC_YAWRATE_MAX 60.0
param set MPC_ACC_DOWN_MAX 2
param set MPC_ACC_HOR 0.5
param set MPC_ACC_HOR_MAX 2
@@ -39,7 +39,7 @@ then
param set SDLOG_PROFILE 179
param set OMNI_ATT_MODE 2
param set OMNI_DFC_MAX_THR 0.15
param set OMNI_DFC_MAX_THR 0.20
fi
set MAV_TYPE 13
ROMFS/px4fmu_common/init.d/airframes/6100_hexa_tilt_x
+2 -1
View File
@@ -39,6 +39,7 @@ then
param set MC_YAWRATE_I 0.1
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.5
param set MC_YAWRATE_MAX 60.0
param set MPC_HOLD_MAX_XY 0.25
param set MPC_THR_MIN 0.15
@@ -47,7 +48,7 @@ then
param set BAT_N_CELLS 4
param set OMNI_ATT_MODE 2
param set OMNI_DFC_MAX_THR 0.15
param set OMNI_DFC_MAX_THR 0.20
fi
# Set mixer