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multicopter manual attitude control: Leave some margin for yaw control

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Lorenz Meier
2015-06-05 22:45:07 +02:00
parent 46d969772c
commit f6dc9c9727
2 changed files with 4 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -1
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@@ -83,6 +83,7 @@
#define TILT_COS_MAX 0.7f
#define SIGMA 0.000001f
#define MIN_DIST 0.01f
#define MANUAL_THROTTLE_MAX_MULTICOPTER 0.9f
/**
* Multicopter position control app start / stop handling function
@@ -1387,7 +1388,7 @@ MulticopterPositionControl::task_main()
//Control climb rate directly if no aiding altitude controller is active
if(!_control_mode.flag_control_climb_rate_enabled) {
_att_sp.thrust = _manual.z;
_att_sp.thrust = math::min(_manual.z, MANUAL_THROTTLE_MAX_MULTICOPTER);
}
//Construct attitude setpoint rotation matrix