diff options
| author | Mark Whitehorn <kd0aij@gmail.com> | 2015-03-17 20:52:51 -0600 |
|---|---|---|
| committer | Mark Whitehorn <kd0aij@gmail.com> | 2015-04-11 08:04:37 -0600 |
| commit | b356508f6b05504af745dd1ee2ba2ab00816057d (patch) | |
| tree | 2d2ec0262bf0e73bf8255dff98bdb0b25b88198b /src/modules/mc_att_control/mc_att_control_params.c | |
| parent | 6b26594697a305477b81aefa4788e1521de63bc5 (diff) | |
| download | px4-firmware-b356508f6b05504af745dd1ee2ba2ab00816057d.tar.gz px4-firmware-b356508f6b05504af745dd1ee2ba2ab00816057d.tar.bz2 px4-firmware-b356508f6b05504af745dd1ee2ba2ab00816057d.zip | |
add new parameters for roll and pitch angular rate limits
Diffstat (limited to 'src/modules/mc_att_control/mc_att_control_params.c')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_params.c | 24 |
1 files changed, 24 insertions, 0 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 6a21f9046..3f63f2fc0 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -206,6 +206,30 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_FF, 0.0f); PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); /** + * Max roll rate + * + * Limit for roll rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_ROLLRATE_MAX, 120.0f); + +/** + * Max pitch rate + * + * Limit for pitch rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. + * + * @unit deg/s + * @min 0.0 + * @max 360.0 + * @group Multicopter Attitude Control + */ +PARAM_DEFINE_FLOAT(MC_PITCHRATE_MAX, 120.0f); + +/** * Max yaw rate * * Limit for yaw rate, has effect for large rotations in autonomous mode, to avoid large control output and mixer saturation. |