From 22d2e26b9cab22fbe3f418b22e74fb05048083e0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 31 Aug 2014 21:55:31 +0200 Subject: Simply throttle limiting on approach - limit throttle still defaults to 1 --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c') 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 41c374407..890ab3bad 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 @@ -379,18 +379,23 @@ PARAM_DEFINE_FLOAT(FW_LND_ANG, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f); /** - * Landing flare altitude (relative) + * Landing flare altitude (relative to landing altitude) * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f); +PARAM_DEFINE_FLOAT(FW_LND_FLALT, 8.0f); /** - * Landing throttle limit altitude (relative) + * Landing throttle limit altitude (relative landing altitude) * + * Default of -1.0f lets the system default to applying throttle + * limiting at 2/3 of the flare altitude. + * + * @unit meter * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); +PARAM_DEFINE_FLOAT(FW_LND_TLALT, -1.0f); /** * Landing heading hold horizontal distance -- cgit v1.2.3