diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 13 |
1 files changed, 12 insertions, 1 deletions
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 0909135e1..f258f77da 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 @@ -245,7 +245,7 @@ PARAM_DEFINE_FLOAT(FW_T_INTEG_GAIN, 0.1f); /** * Maximum vertical acceleration * - * This is the maximum vertical acceleration (in metres/second^2) + * This is the maximum vertical acceleration (in metres/second square) * either up or down that the controller will use to correct speed * or height errors. The default value of 7 m/s/s (equivalent to +- 0.7 g) * allows for reasonably aggressive pitch changes if required to recover @@ -375,3 +375,14 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); + +/** + * Relative altitude threshold for range finder measurements for use during landing + * + * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT + * set to < 0 to disable + * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); |