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author | tstellanova <tstellanova+github@gmail.com> | 2013-09-02 09:13:36 -0700 |
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committer | tstellanova <tstellanova+github@gmail.com> | 2013-09-02 09:13:36 -0700 |
commit | 027d45acbfa06dc155f6a18d0288fb8230d05c9f (patch) | |
tree | 81100d71779eafafebbfcc3cc42a74460b29dd3a /src/modules | |
parent | 38f9c25e9332cf266d38aea521a2ab9e140ec506 (diff) | |
download | px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.tar.gz px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.tar.bz2 px4-firmware-027d45acbfa06dc155f6a18d0288fb8230d05c9f.zip |
respect NAV_TAKEOFF_ALT instead of using hardcoded default takeoff value
Diffstat (limited to 'src/modules')
3 files changed, 7 insertions, 2 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index a25448af2..c194f627d 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -227,7 +227,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) hrt_abstime t_prev = 0; const float alt_ctl_dz = 0.2f; const float pos_ctl_dz = 0.05f; - const float takeoff_alt_default = 10.0f; + float ref_alt = 0.0f; hrt_abstime ref_alt_t = 0; uint64_t local_ref_timestamp = 0; @@ -244,6 +244,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) parameters_init(¶ms_h); parameters_update(¶ms_h, ¶ms); + for (int i = 0; i < 2; i++) { pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f); pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f); @@ -423,7 +424,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) if (reset_auto_pos) { local_pos_sp.x = local_pos.x; local_pos_sp.y = local_pos.y; - local_pos_sp.z = -takeoff_alt_default; + local_pos_sp.z = -params.takeoff_alt; local_pos_sp.yaw = att.yaw; local_pos_sp_valid = true; att_sp.yaw_body = att.yaw; 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 9c1ef2edb..4d6511851 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -59,6 +59,7 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 0.5f); int parameters_init(struct multirotor_position_control_param_handles *h) { + h->takeoff_alt = param_find("NAV_TAKEOFF_ALT"); h->thr_min = param_find("MPC_THR_MIN"); h->thr_max = param_find("MPC_THR_MAX"); h->z_p = param_find("MPC_Z_P"); @@ -84,6 +85,7 @@ int parameters_init(struct multirotor_position_control_param_handles *h) int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) { + param_get(h->takeoff_alt,&(p->takeoff_alt)); param_get(h->thr_min, &(p->thr_min)); param_get(h->thr_max, &(p->thr_max)); param_get(h->z_p, &(p->z_p)); diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h index 3ec85a364..79bc9b72b 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.h +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.h @@ -41,6 +41,7 @@ #include <systemlib/param/param.h> struct multirotor_position_control_params { + float takeoff_alt; float thr_min; float thr_max; float z_p; @@ -63,6 +64,7 @@ struct multirotor_position_control_params { }; struct multirotor_position_control_param_handles { + param_t takeoff_alt; param_t thr_min; param_t thr_max; param_t z_p; |