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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 21:55:31 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-31 21:55:31 +0200 |
| commit | 22d2e26b9cab22fbe3f418b22e74fb05048083e0 (patch) | |
| tree | 5bdfd18386667a69d0c5dd2c31cc3f8e87a28142 /src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | |
| parent | 84d26185df1aa3a727d0db7b06b262e756eb5248 (diff) | |
| download | px4-firmware-22d2e26b9cab22fbe3f418b22e74fb05048083e0.tar.gz px4-firmware-22d2e26b9cab22fbe3f418b22e74fb05048083e0.tar.bz2 px4-firmware-22d2e26b9cab22fbe3f418b22e74fb05048083e0.zip | |
Simply throttle limiting on approach - limit throttle still defaults to 1
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 41c374407..890ab3bad 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); /** - * Landing flare altitude (relative) + * Landing flare altitude (relative to landing altitude) * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f); /** - * Landing throttle limit altitude (relative) + * Landing throttle limit altitude (relative landing altitude) * + * Default of -1.0f lets the system default to applying throttle + * limiting at 2/3 of the flare altitude. + * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); +PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance |