Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_PosControl: remove 20cm on takeoff

This commit is contained in:
Randy Mackay 2014-08-05 09:11:57 +09:00
parent a404404806
commit e0fc2dd50e
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -21,7 +21,7 @@
#define POSCONTROL_STOPPING_DIST_Z_MAX 200.0f // max stopping distance vertically
// 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_TAKEOFF_JUMP_CM 20.0f // during take-off altitude target is set to current altitude + this value
#define POSCONTROL_TAKEOFF_JUMP_CM 0.0f // during take-off altitude target is set to current altitude + this value
#define POSCONTROL_SPEED 500.0f // default horizontal speed in cm/s
#define POSCONTROL_SPEED_DOWN -150.0f // default descent rate in cm/s