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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-17 23:36:06 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-17 23:36:06 +0200 |
| commit | 424efe00da710b24350ac0f0f5b1283a30d6629a (patch) | |
| tree | 4f4595b930f971323896ddad97aa040dd8229b19 | |
| parent | cb18b8e06485e1426471e7b41fba621747574ec0 (diff) | |
| download | px4-firmware-mpc_auto_gain.tar.gz px4-firmware-mpc_auto_gain.tar.bz2 px4-firmware-mpc_auto_gain.zip | |
mc_pos_control: use wider thrust range for auto gainmpc_auto_gain
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 |
1 files changed, 1 insertions, 1 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 20a482620..9e3508572 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -819,7 +819,7 @@ MulticopterPositionControl::task_main() /* calculate velocity controller gain multiplier to convert desired acceleration to thrust * to dynamically adjust gain depending on vehicle mass (estimated via hovering thrust) */ - float gain_mult = fminf(fmaxf(-thrust_int(2), 0.3f), 0.7f) / CONSTANTS_ONE_G; + float gain_mult = fminf(fmaxf(-thrust_int(2), 0.1f), 0.8f) / CONSTANTS_ONE_G; /* thrust vector in NED frame */ math::Vector<3> thrust_sp = (vel_err.emult(_params.vel_p) + vel_err_d.emult(_params.vel_d) + thrust_int) * gain_mult; |