From 460c6bcf5715aac96bbb92ab225676b6b62a8c0c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 15 Jun 2015 21:56:44 +0200 Subject: [PATCH] MC att control demand: Require a higher minimum throttle --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 7 ++++--- src/modules/mc_pos_control/mc_pos_control_params.c | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 995937aa6c..6eaca26b17 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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 diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index ade43ffb91..4a58dfdd0c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -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