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ALTITUDE_THRESHOLD lower to 0.3 meters

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Dennis Mannhart 2018-10-04 15:43:38 +02:00 committed by Daniel Agar
parent 511563d4ac
commit 304e00f158
1 changed files with 2 additions and 1 deletions
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3
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -161,7 +161,8 @@ private:
static constexpr int NUM_FAILURE_TRIES = 10;
/**< If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land */
static constexpr uint64_t LOITER_TIME_BEFORE_DESCEND = 200000;
/**< During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited */
static constexpr float ALTITUDE_THRESHOLD = 0.3f;
/**
* Hysteresis that turns true once vehicle is armed for MPC_IDLE_TKO seconds.