Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_PosControl: minor comment change

Browse Source 
non-functional change
This commit is contained in:
Leonard Hall 2018-01-19 15:13:37 +09:00 committed by Randy Mackay
parent 3ada0f32b0
commit d5976442f8
1 changed files with 0 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -16,8 +16,6 @@
#define POSCONTROL_ACCELERATION_MIN 50.0f // minimum horizontal acceleration in cm/s/s - used for sanity checking acceleration in leash length calculation
#define POSCONTROL_ACCEL_XY 100.0f // default horizontal acceleration in cm/s/s. This is overwritten by waypoint and loiter controllers
#define POSCONTROL_ACCEL_XY_MAX 980.0f // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller
// should be 1.5 times larger than POSCONTROL_ACCELERATION.
// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
#define POSCONTROL_STOPPING_DIST_UP_MAX 300.0f // max stopping distance (in cm) vertically while climbing
#define POSCONTROL_STOPPING_DIST_DOWN_MAX 200.0f // max stopping distance (in cm) vertically while descending
#define POSCONTROL_JERK_LIMIT_CMSSS 1700.0f // default jerk limit on horizontal acceleration (unit: m/s/s/s)