diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-07-21 22:42:45 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-07-21 22:42:45 +0400 |
| commit | 98a4345410e91a1e3966b3364f487652af210d03 (patch) | |
| tree | 84fdf473dd1b5c8ed0fecdcebf3a2622ac05a0ea /src/modules/multirotor_pos_control/multirotor_pos_control_params.c | |
| parent | 1dac58571eadf528e949c4e170de1edf61be2982 (diff) | |
| download | px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.tar.gz px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.tar.bz2 px4-firmware-98a4345410e91a1e3966b3364f487652af210d03.zip | |
multirotor_pos_control: some refactoring and cleanup, attitude-thrust correction moved to thrust_pid
Diffstat (limited to 'src/modules/multirotor_pos_control/multirotor_pos_control_params.c')
| -rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index f8a982c6c..1094fd23b 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_P, 0.2f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_I, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 10.0f); -PARAM_DEFINE_FLOAT(MPC_SLOPE_MAX, 0.5f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { @@ -74,7 +74,7 @@ int parameters_init(struct multirotor_position_control_param_handles *h) h->xy_vel_i = param_find("MPC_XY_VEL_I"); h->xy_vel_d = param_find("MPC_XY_VEL_D"); h->xy_vel_max = param_find("MPC_XY_VEL_MAX"); - h->slope_max = param_find("MPC_SLOPE_MAX"); + h->tilt_max = param_find("MPC_TILT_MAX"); h->rc_scale_pitch = param_find("RC_SCALE_PITCH"); h->rc_scale_roll = param_find("RC_SCALE_ROLL"); @@ -99,7 +99,7 @@ int parameters_update(const struct multirotor_position_control_param_handles *h, param_get(h->xy_vel_i, &(p->xy_vel_i)); param_get(h->xy_vel_d, &(p->xy_vel_d)); param_get(h->xy_vel_max, &(p->xy_vel_max)); - param_get(h->slope_max, &(p->slope_max)); + param_get(h->tilt_max, &(p->tilt_max)); param_get(h->rc_scale_pitch, &(p->rc_scale_pitch)); param_get(h->rc_scale_roll, &(p->rc_scale_roll)); |