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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-28 17:49:57 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-28 17:49:57 +0200 |
| commit | 4378454a100c93b4e4f93266dbe626aa540a88d3 (patch) | |
| tree | ed5ea125f5b87fa3cf5834fc310b23e200dceb9a /src/modules/mc_pos_control | |
| parent | ab1939c6a30b6f4de06c83245c9f99ed350a4559 (diff) | |
| download | px4-firmware-4378454a100c93b4e4f93266dbe626aa540a88d3.tar.gz px4-firmware-4378454a100c93b4e4f93266dbe626aa540a88d3.tar.bz2 px4-firmware-4378454a100c93b4e4f93266dbe626aa540a88d3.zip | |
mc_pos_control: hotfix, MPC_TILTMAX_AIR and MPC_TILTMAX_LND parameters fixed
Diffstat (limited to 'src/modules/mc_pos_control')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 24 |
1 files changed, 12 insertions, 12 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 65f4cbeaa..7c625a0c5 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -148,17 +148,17 @@ private: param_t xy_vel_d; param_t xy_vel_max; param_t xy_ff; - param_t tilt_max; + param_t tilt_max_air; param_t land_speed; - param_t land_tilt_max; + param_t tilt_max_land; } _params_handles; /**< handles for interesting parameters */ struct { float thr_min; float thr_max; - float tilt_max; + float tilt_max_air; float land_speed; - float land_tilt_max; + float tilt_max_land; math::Vector<3> pos_p; math::Vector<3> vel_p; @@ -308,9 +308,9 @@ MulticopterPositionControl::MulticopterPositionControl() : _params_handles.xy_vel_d = param_find("MPC_XY_VEL_D"); _params_handles.xy_vel_max = param_find("MPC_XY_VEL_MAX"); _params_handles.xy_ff = param_find("MPC_XY_FF"); - _params_handles.tilt_max = param_find("MPC_TILT_MAX"); + _params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR"); _params_handles.land_speed = param_find("MPC_LAND_SPEED"); - _params_handles.land_tilt_max = param_find("MPC_LAND_TILT"); + _params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND"); /* fetch initial parameter values */ parameters_update(true); @@ -355,11 +355,11 @@ MulticopterPositionControl::parameters_update(bool force) if (updated || force) { param_get(_params_handles.thr_min, &_params.thr_min); param_get(_params_handles.thr_max, &_params.thr_max); - param_get(_params_handles.tilt_max, &_params.tilt_max); - _params.tilt_max = math::radians(_params.tilt_max); + param_get(_params_handles.tilt_max_air, &_params.tilt_max_air); + _params.tilt_max_air = math::radians(_params.tilt_max_air); param_get(_params_handles.land_speed, &_params.land_speed); - param_get(_params_handles.land_tilt_max, &_params.land_tilt_max); - _params.land_tilt_max = math::radians(_params.land_tilt_max); + param_get(_params_handles.tilt_max_land, &_params.tilt_max_land); + _params.tilt_max_land = math::radians(_params.tilt_max_land); float v; param_get(_params_handles.xy_p, &v); @@ -841,13 +841,13 @@ MulticopterPositionControl::task_main() thr_min = 0.0f; } - float tilt_max = _params.tilt_max; + float tilt_max = _params.tilt_max_air; /* adjust limits for landing mode */ if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) { /* limit max tilt and min lift when landing */ - tilt_max = _params.land_tilt_max; + tilt_max = _params.tilt_max_land; if (thr_min < 0.0f) { thr_min = 0.0f; |