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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-15 17:30:44 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-15 17:30:44 +0200 |
| commit | 3b6458859f2370d05c69bae7f1e44e204cb3d0cd (patch) | |
| tree | 6008a9b485ef6fdc2de574ba87d4e5d022cdd2e8 /src/modules | |
| parent | 5be741607c0d8d477ff30c7639edbd3bce427e7b (diff) | |
| parent | 9772aa5814eb2f0d864e89814f5be2cf9f136eda (diff) | |
| download | px4-firmware-3b6458859f2370d05c69bae7f1e44e204cb3d0cd.tar.gz px4-firmware-3b6458859f2370d05c69bae7f1e44e204cb3d0cd.tar.bz2 px4-firmware-3b6458859f2370d05c69bae7f1e44e204cb3d0cd.zip | |
Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_params.c | 14 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_mission.cpp | 1 |
2 files changed, 8 insertions, 7 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c index c95bf1dc9..bbbb8f9db 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c @@ -65,7 +65,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 1); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); +PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f); /** * Total Energy Rate Control P @@ -75,7 +75,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); +PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f); /** * Total Energy Rate Control I @@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); +PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f); /** * Total Energy Rate Control Offset (Cruise throttle sp) @@ -104,7 +104,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f); * @max 10.0 * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); +PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f); /** * Energy Distribution Rate Control P @@ -182,7 +182,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); +PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f); /** * D gain for the altitude control @@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f); * @unit deg * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); +PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f); /** * Maximal flight path angle setpoint @@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f); * @max 10.0f * @group mTECS */ -PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); +PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f); /** * D gain for the airspeed control diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 1eab7d761..9bb956281 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -759,6 +759,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t * break; case MAV_CMD_DO_JUMP: mission_item->do_jump_mission_index = mavlink_mission_item->param1; + mission_item->do_jump_current_count = 0; mission_item->do_jump_repeat_count = mavlink_mission_item->param2; break; default: |