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Merged master into ekf_params

This commit is contained in:
Lorenz Meier 2014-04-27 16:14:02 +02:00
parent 6ab878c021 ad77ba2642
commit f7065dce84
2 changed files with 16 additions and 15 deletions
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2
src/modules/commander/commander.cpp
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@ -117,7 +117,7 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT 50000 /**< consider the local or global position estimate invalid after 50ms */ #define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */
#define RC_TIMEOUT 500000 #define RC_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000 #define DIFFPRESS_TIMEOUT 2000000

29
src/modules/mc_pos_control/mc_pos_control_params.c
View File

@ -174,16 +174,28 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f);
PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f); PARAM_DEFINE_FLOAT(MPC_XY_FF, 0.5f);
/** /**
* Maximum tilt * Maximum tilt angle in air
* *
* Limits maximum tilt in AUTO and EASY modes. * Limits maximum tilt in AUTO and EASY modes during flight.
* *
* @unit deg * @unit deg
* @min 0.0 * @min 0.0
* @max 90.0 * @max 90.0
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f); PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f);
/**
* Maximum tilt during landing
*
* Limits maximum tilt angle on landing.
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f);
/** /**
* Landing descend rate * Landing descend rate
@ -194,14 +206,3 @@ PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f);
*/ */
PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f);
/**
* Maximum landing tilt
*
* Limits maximum tilt on landing.
*
* @unit deg
* @min 0.0
* @max 90.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 15.0f);