diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 01f1631a97..6b0c44fb31 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -157,9 +157,9 @@ private: param_t yaw_rate_d; param_t yaw_ff; - param_t man_scale_roll; - param_t man_scale_pitch; - param_t man_scale_yaw; + param_t man_roll_max; + param_t man_pitch_max; + param_t man_yaw_max; } _params_handles; /**< handles for interesting parameters */ struct { @@ -169,9 +169,9 @@ private: math::Vector<3> rate_d; /**< D gain for angular rate error */ float yaw_ff; /**< yaw control feed-forward */ - float man_scale_roll; - float man_scale_pitch; - float man_scale_yaw; + float man_roll_max; + float man_pitch_max; + float man_yaw_max; } _params; /** @@ -299,9 +299,9 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() : _params_handles.yaw_rate_d = param_find("MC_YAWRATE_D"); _params_handles.yaw_ff = param_find("MC_YAW_FF"); - _params_handles.man_scale_roll = param_find("MC_SCALE_ROLL"); - _params_handles.man_scale_pitch = param_find("MC_SCALE_PITCH"); - _params_handles.man_scale_yaw = param_find("MC_SCALE_YAW"); + _params_handles.man_roll_max = param_find("MC_MAN_R_MAX"); + _params_handles.man_pitch_max = param_find("MC_MAN_P_MAX"); + _params_handles.man_yaw_max = param_find("MC_MAN_Y_MAX"); /* fetch initial parameter values */ parameters_update(); @@ -369,13 +369,13 @@ MulticopterAttitudeControl::parameters_update() param_get(_params_handles.yaw_ff, &_params.yaw_ff); /* manual control scale */ - param_get(_params_handles.man_scale_roll, &_params.man_scale_roll); - param_get(_params_handles.man_scale_pitch, &_params.man_scale_pitch); - param_get(_params_handles.man_scale_yaw, &_params.man_scale_yaw); + param_get(_params_handles.man_roll_max, &_params.man_roll_max); + param_get(_params_handles.man_pitch_max, &_params.man_pitch_max); + param_get(_params_handles.man_yaw_max, &_params.man_yaw_max); - _params.man_scale_roll *= M_PI / 180.0; - _params.man_scale_pitch *= M_PI / 180.0; - _params.man_scale_yaw *= M_PI / 180.0; + _params.man_roll_max *= M_PI / 180.0; + _params.man_pitch_max *= M_PI / 180.0; + _params.man_yaw_max *= M_PI / 180.0; return OK; } @@ -496,7 +496,7 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_scale_yaw * dt); + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt); _v_att_sp.R_valid = false; publish_att_sp = true; } @@ -511,8 +511,8 @@ MulticopterAttitudeControl::control_attitude(float dt) if (!_v_control_mode.flag_control_velocity_enabled) { /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.roll * _params.man_scale_roll; - _v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_scale_pitch; + _v_att_sp.roll_body = _manual_control_sp.roll * _params.man_roll_max; + _v_att_sp.pitch_body = -_manual_control_sp.pitch * _params.man_pitch_max; _v_att_sp.R_valid = false; publish_att_sp = true; } diff --git a/src/modules/mc_att_control/mc_att_control_params.c b/src/modules/mc_att_control/mc_att_control_params.c index 9acf8bfa3e..e52c39368b 100644 --- a/src/modules/mc_att_control/mc_att_control_params.c +++ b/src/modules/mc_att_control/mc_att_control_params.c @@ -175,30 +175,30 @@ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAW_FF, 0.5f); /** - * Manual control scaling factor for roll + * Max manual roll * * @unit deg * @min 0.0 * @max 90.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_SCALE_ROLL, 35.0f); +PARAM_DEFINE_FLOAT(MC_MAN_R_MAX, 35.0f); /** - * Manual control scaling factor for pitch + * Max manual pitch * * @unit deg * @min 0.0 * @max 90.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_SCALE_PITCH, 35.0f); +PARAM_DEFINE_FLOAT(MC_MAN_P_MAX, 35.0f); /** - * Manual control scaling factor for yaw + * Max manual yaw rate * * @unit deg/s * @min 0.0 * @group Multicopter Attitude Control */ -PARAM_DEFINE_FLOAT(MC_SCALE_YAW, 120.0f); +PARAM_DEFINE_FLOAT(MC_MAN_Y_MAX, 120.0f);