fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 20:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_pos_control: limit slewrate different in up and down direction

Browse Source
This commit is contained in:
Dennis Mannhart
2017-02-02 09:04:59 +01:00
committed by Lorenz Meier
parent c976a26156
commit f718b3a97a
2 changed files with 50 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/mc_pos_control_params.c
+24
View File
@@ -458,6 +458,30 @@ PARAM_DEFINE_FLOAT(MPC_VELD_LP, 5.0f);
*/
PARAM_DEFINE_FLOAT(MPC_ACC_HOR_MAX, 5.0f);
/**
* Maximum vertical acceleration in velocity controlled modes upward
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 10.0f);
/**
* Maximum vertical acceleration in velocity controlled modes down
*
* @unit m/s/s
* @min 2.0
* @max 15.0
* @increment 1
* @decimal 2
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 5.0f);
/**
* Altitude control mode, note mode 1 only tested with LPE
*