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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-27 16:14:02 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-27 16:14:02 +0200 |
| commit | f7065dce84118054c68aa87def70e861da73cdfd (patch) | |
| tree | f671b21ea8e09bb40c510e451fdd758dc5a14e2d /src/modules | |
| parent | 6ab878c0218f26e5fa71053b75d7075b594b937e (diff) | |
| parent | ad77ba26427aa9a2d8b8241fc95271667a1c0863 (diff) | |
| download | px4-firmware-f7065dce84118054c68aa87def70e861da73cdfd.tar.gz px4-firmware-f7065dce84118054c68aa87def70e861da73cdfd.tar.bz2 px4-firmware-f7065dce84118054c68aa87def70e861da73cdfd.zip | |
Merged master into ekf_params
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 25 |
2 files changed, 14 insertions, 13 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 148a0aafa..53ed34f46 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -117,7 +117,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT 50000 /**< consider the local or global position estimate invalid after 50ms */ +#define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */ #define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index fe0004ea8..104df4e59 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -174,34 +174,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); /** - * Maximum tilt + * Maximum tilt angle in air * - * Limits maximum tilt in AUTO and EASY modes. + * Limits maximum tilt in AUTO and EASY modes during flight. * * @unit deg * @min 0.0 * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); /** - * Landing descend rate + * Maximum tilt during landing * - * @unit m/s + * Limits maximum tilt angle on landing. + * + * @unit deg * @min 0.0 + * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f); /** - * Maximum landing tilt - * - * Limits maximum tilt on landing. + * Landing descend rate * - * @unit deg + * @unit m/s * @min 0.0 - * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 15.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); + |