diff options
Diffstat (limited to 'src/modules/multirotor_pos_control')
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 4 | ||||
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control_params.c | 4 |
2 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 0d5a537ea..a6ebeeacb 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -459,6 +459,10 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[]) /* publish local position setpoint as projection of global position setpoint */ orb_publish(ORB_ID(vehicle_local_position_setpoint), local_pos_sp_pub, &local_pos_sp); } + + /* reset setpoints after non-manual modes */ + reset_sp_xy = true; + reset_sp_z = true; } /* run position & altitude controllers, calculate velocity setpoint */ diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c index 0b09c9ea7..9c1ef2edb 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control_params.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control_params.c @@ -41,8 +41,8 @@ #include "multirotor_pos_control_params.h" /* controller parameters */ -PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.3f); -PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.7f); +PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.2f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.8f); PARAM_DEFINE_FLOAT(MPC_Z_P, 1.0f); PARAM_DEFINE_FLOAT(MPC_Z_D, 0.0f); PARAM_DEFINE_FLOAT(MPC_Z_VEL_P, 0.1f); |