fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 07:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2382 from PX4/multicopter_fall_fix

Browse Source 
MC att control demand: Require a higher minimum throttle
This commit is contained in:
Lorenz Meier
2015-06-16 08:38:46 +02:00
parent 73d179fb59 460c6bcf57
commit f57086cb99
2 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -3
View File
@@ -1396,14 +1396,15 @@ MulticopterPositionControl::task_main()
}
//Control roll and pitch directly if we no aiding velocity controller is active
if(!_control_mode.flag_control_velocity_enabled) {
if (!_control_mode.flag_control_velocity_enabled) {
_att_sp.roll_body = _manual.y * _params.man_roll_max;
_att_sp.pitch_body = -_manual.x * _params.man_pitch_max;
}
//Control climb rate directly if no aiding altitude controller is active
if(!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = math::min(_manual.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
if (!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = math::min(_manual.z, _params.thr_max);
_att_sp.thrust = math::max(_att_sp.thrust, _params.thr_min);
}
//Construct attitude setpoint rotation matrix
src/modules/mc_pos_control/mc_pos_control_params.c
+1 -1
View File
@@ -50,7 +50,7 @@
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.18f);
/**
* Maximum thrust