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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-25 22:53:48 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-25 22:53:48 +0200 |
| commit | a432ed49003d419414c076cfa324743fadb92b6f (patch) | |
| tree | 7b97b0082ee2a5ef0c33c9c3f7076b07f054890c /src | |
| parent | ac0b50eaa44521998e57d8d1203a25dc997108f5 (diff) | |
| download | px4-firmware-a432ed49003d419414c076cfa324743fadb92b6f.tar.gz px4-firmware-a432ed49003d419414c076cfa324743fadb92b6f.tar.bz2 px4-firmware-a432ed49003d419414c076cfa324743fadb92b6f.zip | |
mc_pos_control: convert tilt_max to degrees
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 10 |
2 files changed, 8 insertions, 4 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 5194ef697..65f4cbeaa 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -356,8 +356,10 @@ MulticopterPositionControl::parameters_update(bool force) param_get(_params_handles.thr_min, &_params.thr_min); param_get(_params_handles.thr_max, &_params.thr_max); param_get(_params_handles.tilt_max, &_params.tilt_max); + _params.tilt_max = math::radians(_params.tilt_max); param_get(_params_handles.land_speed, &_params.land_speed); param_get(_params_handles.land_tilt_max, &_params.land_tilt_max); + _params.land_tilt_max = math::radians(_params.land_tilt_max); float v; param_get(_params_handles.xy_p, &v); 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 0082a5e6a..609ff626a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -176,11 +176,12 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); * * Limits maximum tilt in AUTO and EASY modes. * + * @unit deg * @min 0.0 - * @max 1.57 + * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f); /** * Landing descend rate @@ -195,8 +196,9 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); * * Limits maximum tilt on landing. * + * @unit deg * @min 0.0 - * @max 1.57 + * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 0.3f); +PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 15.0f); |