From d7533843d533a8893e3ece31eb1aa1634b4b64a6 Mon Sep 17 00:00:00 2001 From: murata Date: Sun, 15 Mar 2020 12:25:53 +0900 Subject: [PATCH] AC_AttitudeControl: Set the gravitational acceleration value to the defined value --- libraries/AC_AttitudeControl/AC_PosControl.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 737100ebe1..7d28fc8e7e 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -16,7 +16,7 @@ // position controller default definitions #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 +#define POSCONTROL_ACCEL_XY_MAX (GRAVITY_MSS*100) // max horizontal acceleration in cm/s/s that the position velocity controller will ask from the lower accel controller #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