dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Update MC thrust limit default param value and add explanation

This commit is contained in:
Lorenz Meier 2015-06-12 11:08:30 +02:00
parent 5727985678
commit 267fb408b1
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -55,13 +55,16 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
/** /**
* Maximum thrust * 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 * @min 0.0
* @max 1.0 * @max 1.0
* @group Multicopter Position Control * @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 * Proportional gain for vertical position error