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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-24 01:36:16 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-24 01:36:16 -0700 |
| commit | ce156400fa86599e96d0b92e87b85f6505068a63 (patch) | |
| tree | 376708ac0dc7dcbd6bde18b647366e9b010c76b7 /src/modules | |
| parent | cc324f2624cc3a4347d736fd5634672d5a2716e9 (diff) | |
| parent | 1cb73687f7acd4ae3263c40940afe057b1b7d368 (diff) | |
| download | px4-firmware-ce156400fa86599e96d0b92e87b85f6505068a63.tar.gz px4-firmware-ce156400fa86599e96d0b92e87b85f6505068a63.tar.bz2 px4-firmware-ce156400fa86599e96d0b92e87b85f6505068a63.zip | |
Merge pull request #491 from thomasgubler/l1_max_roll_angle
added parameter for maximal roll angle
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 5 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 3 |
2 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index cd4a0d58e..f09e44b39 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -192,6 +192,7 @@ private: float pitch_limit_min; float pitch_limit_max; + float roll_limit; float throttle_min; float throttle_max; float throttle_cruise; @@ -223,6 +224,7 @@ private: param_t pitch_limit_min; param_t pitch_limit_max; + param_t roll_limit; param_t throttle_min; param_t throttle_max; param_t throttle_cruise; @@ -339,6 +341,7 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.pitch_limit_min = param_find("FW_P_LIM_MIN"); _parameter_handles.pitch_limit_max = param_find("FW_P_LIM_MAX"); + _parameter_handles.roll_limit = param_find("FW_R_LIM"); _parameter_handles.throttle_min = param_find("FW_THR_MIN"); _parameter_handles.throttle_max = param_find("FW_THR_MAX"); _parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE"); @@ -400,6 +403,7 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.pitch_limit_min, &(_parameters.pitch_limit_min)); param_get(_parameter_handles.pitch_limit_max, &(_parameters.pitch_limit_max)); + param_get(_parameter_handles.roll_limit, &(_parameters.roll_limit)); param_get(_parameter_handles.throttle_min, &(_parameters.throttle_min)); param_get(_parameter_handles.throttle_max, &(_parameters.throttle_max)); param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise)); @@ -419,6 +423,7 @@ FixedwingPositionControl::parameters_update() _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); + _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); _tecs.set_time_const(_parameters.time_const); _tecs.set_min_sink_rate(_parameters.min_sink_rate); 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 d210ec712..bf4b3b32a 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 @@ -67,6 +67,9 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MIN, -45.0f); PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f); +PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f); + + PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f); |