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px4-firmware
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Merge branch 'navigator_rewrite' into dataman_state_nav_rewrite

This commit is contained in:
Anton Babushkin 2014-06-15 17:30:44 +02:00
parent 5be741607c 9772aa5814
commit 3b6458859f
2 changed files with 8 additions and 7 deletions
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14
src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
View File

@ -65,7 +65,7 @@ PARAM_DEFINE_INT32(MT_ENABLED, 1);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f); PARAM_DEFINE_FLOAT(MT_THR_FF, 0.7f);
/** /**
* Total Energy Rate Control P * Total Energy Rate Control P
@ -75,7 +75,7 @@ PARAM_DEFINE_FLOAT(MT_THR_FF, 0.2f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f); PARAM_DEFINE_FLOAT(MT_THR_P, 0.1f);
/** /**
* Total Energy Rate Control I * Total Energy Rate Control I
@ -85,7 +85,7 @@ PARAM_DEFINE_FLOAT(MT_THR_P, 0.03f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_THR_I, 0.1f); PARAM_DEFINE_FLOAT(MT_THR_I, 0.25f);
/** /**
* Total Energy Rate Control Offset (Cruise throttle sp) * Total Energy Rate Control Offset (Cruise throttle sp)
@ -104,7 +104,7 @@ PARAM_DEFINE_FLOAT(MT_THR_OFF, 0.7f);
* @max 10.0 * @max 10.0
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.1f); PARAM_DEFINE_FLOAT(MT_PIT_FF, 0.4f);
/** /**
* Energy Distribution Rate Control P * Energy Distribution Rate Control P
@ -182,7 +182,7 @@ PARAM_DEFINE_FLOAT(MT_PIT_MAX, 20.0f);
* @max 10.0f * @max 10.0f
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_FPA_P, 0.2f); PARAM_DEFINE_FLOAT(MT_FPA_P, 0.3f);
/** /**
* D gain for the altitude control * D gain for the altitude control
@ -210,7 +210,7 @@ PARAM_DEFINE_FLOAT(MT_FPA_D_LP, 1.0f);
* @unit deg * @unit deg
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_FPA_MIN, -10.0f); PARAM_DEFINE_FLOAT(MT_FPA_MIN, -20.0f);
/** /**
* Maximal flight path angle setpoint * Maximal flight path angle setpoint
@ -237,7 +237,7 @@ PARAM_DEFINE_FLOAT(MT_A_LP, 1.0f);
* @max 10.0f * @max 10.0f
* @group mTECS * @group mTECS
*/ */
PARAM_DEFINE_FLOAT(MT_ACC_P, 1.5f); PARAM_DEFINE_FLOAT(MT_ACC_P, 0.3f);
/** /**
* D gain for the airspeed control * D gain for the airspeed control

1
src/modules/mavlink/mavlink_mission.cpp
View File

@ -759,6 +759,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
break; break;
case MAV_CMD_DO_JUMP: case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1; mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_current_count = 0;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2; mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break; break;
default: default: