From 267fb408b1f5cfc27235b70f5dc8457e135622b7 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 12 Jun 2015 11:08:30 +0200 Subject: [PATCH] Update MC thrust limit default param value and add explanation --- src/modules/mc_pos_control/mc_pos_control_params.c | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index fc73b31f59..ade43ffb91 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -55,13 +55,16 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f); /** * Maximum thrust * - * Limit max allowed thrust. + * Limit max allowed thrust. Setting a value of one can put + * the system into actuator saturation as no spread between + * the motors is possible any more. A value of 0.8 - 0.9 + * is recommended. * * @min 0.0 * @max 1.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f); +PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f); /** * Proportional gain for vertical position error