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mc_pos_control: hotfix, MPC_TILTMAX_AIR and MPC_TILTMAX_LND parameters fixed

This commit is contained in:
Anton Babushkin 2014-04-28 17:49:57 +02:00
parent ab1939c6a3
commit 4378454a10
1 changed files with 12 additions and 12 deletions
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24
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -148,17 +148,17 @@ private:
param_t xy_vel_d;
param_t xy_vel_max;
param_t xy_ff;
param_t tilt_max;
param_t tilt_max_air;
param_t land_speed;
param_t land_tilt_max;
param_t tilt_max_land;
} _params_handles; /**< handles for interesting parameters */
struct {
float thr_min;
float thr_max;
float tilt_max;
float tilt_max_air;
float land_speed;
float land_tilt_max;
float tilt_max_land;
math::Vector<3> pos_p;
math::Vector<3> vel_p;
@ -308,9 +308,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.xy_vel_d = param_find("MPC_XY_VEL_D");
_params_handles.xy_vel_max = param_find("MPC_XY_VEL_MAX");
_params_handles.xy_ff = param_find("MPC_XY_FF");
_params_handles.tilt_max = param_find("MPC_TILT_MAX");
_params_handles.tilt_max_air = param_find("MPC_TILTMAX_AIR");
_params_handles.land_speed = param_find("MPC_LAND_SPEED");
_params_handles.land_tilt_max = param_find("MPC_LAND_TILT");
_params_handles.tilt_max_land = param_find("MPC_TILTMAX_LND");
/* fetch initial parameter values */
parameters_update(true);
@ -355,11 +355,11 @@ MulticopterPositionControl::parameters_update(bool force)
if (updated || force) {
param_get(_params_handles.thr_min, &_params.thr_min);
param_get(_params_handles.thr_max, &_params.thr_max);
param_get(_params_handles.tilt_max, &_params.tilt_max);
_params.tilt_max = math::radians(_params.tilt_max);
param_get(_params_handles.tilt_max_air, &_params.tilt_max_air);
_params.tilt_max_air = math::radians(_params.tilt_max_air);
param_get(_params_handles.land_speed, &_params.land_speed);
param_get(_params_handles.land_tilt_max, &_params.land_tilt_max);
_params.land_tilt_max = math::radians(_params.land_tilt_max);
param_get(_params_handles.tilt_max_land, &_params.tilt_max_land);
_params.tilt_max_land = math::radians(_params.tilt_max_land);
float v;
param_get(_params_handles.xy_p, &v);
@ -841,13 +841,13 @@ MulticopterPositionControl::task_main()
thr_min = 0.0f;
}
float tilt_max = _params.tilt_max;
float tilt_max = _params.tilt_max_air;
/* adjust limits for landing mode */
if (!_control_mode.flag_control_manual_enabled && _pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
/* limit max tilt and min lift when landing */
tilt_max = _params.land_tilt_max;
tilt_max = _params.tilt_max_land;
if (thr_min < 0.0f) {
thr_min = 0.0f;