diff options
Diffstat (limited to 'src/modules/mc_pos_control')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 12 | ||||
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_params.c | 12 |
2 files changed, 13 insertions, 11 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 7c625a0c5..09960d106 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -226,7 +226,7 @@ private: /** * Main sensor collection task. */ - void task_main() __attribute__((noreturn)); + void task_main(); }; namespace pos_control @@ -617,7 +617,7 @@ MulticopterPositionControl::task_main() reset_alt_sp(); /* move altitude setpoint with throttle stick */ - sp_move_rate(2) = -scale_control(_manual.throttle - 0.5f, 0.5f, alt_ctl_dz); + sp_move_rate(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz); } if (_control_mode.flag_control_position_enabled) { @@ -625,8 +625,8 @@ MulticopterPositionControl::task_main() reset_pos_sp(); /* move position setpoint with roll/pitch stick */ - sp_move_rate(0) = _manual.pitch; - sp_move_rate(1) = _manual.roll; + sp_move_rate(0) = _manual.x; + sp_move_rate(1) = _manual.y; } /* limit setpoint move rate */ @@ -782,7 +782,7 @@ MulticopterPositionControl::task_main() float i = _params.thr_min; if (reset_int_z_manual) { - i = _manual.throttle; + i = _manual.z; if (i < _params.thr_min) { i = _params.thr_min; @@ -1062,7 +1062,7 @@ MulticopterPositionControl::start() _control_task = task_spawn_cmd("mc_pos_control", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 2048, + 2000, (main_t)&MulticopterPositionControl::task_main_trampoline, nullptr); 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 104df4e59..05ab5769b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -35,6 +35,8 @@ /** * @file mc_pos_control_params.c * Multicopter position controller parameters. + * + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <systemlib/param/param.h> @@ -98,7 +100,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_D, 0.0f); /** * Maximum vertical velocity * - * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (SEATBELT, EASY). + * Maximum vertical velocity in AUTO mode and endpoint for stabilized modes (ALTCTRL, POSCTRL). * * @unit m/s * @min 0.0 @@ -109,7 +111,7 @@ PARAM_DEFINE_FLOAT(MPC_Z_VEL_MAX, 5.0f); /** * Vertical velocity feed forward * - * Feed forward weight for altitude control in stabilized modes (SEATBELT, EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for altitude control in stabilized modes (ALTCTRL, POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -154,7 +156,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_D, 0.01f); /** * Maximum horizontal velocity * - * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (EASY). + * Maximum horizontal velocity in AUTO mode and endpoint for position stabilized mode (POSCTRL). * * @unit m/s * @min 0.0 @@ -165,7 +167,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); /** * Horizontal velocity feed forward * - * Feed forward weight for position control in position control mode (EASY). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. + * Feed forward weight for position control in position control mode (POSCTRL). 0 will give slow responce and no overshot, 1 - fast responce and big overshot. * * @min 0.0 * @max 1.0 @@ -176,7 +178,7 @@ PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); /** * Maximum tilt angle in air * - * Limits maximum tilt in AUTO and EASY modes during flight. + * Limits maximum tilt in AUTO and POSCTRL modes during flight. * * @unit deg * @min 0.0 |