From c4c18caed41bb58a2a8ef287cf40c76783a1b6d1 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Tue, 9 May 2017 10:46:21 +0200 Subject: [PATCH] mc_pos_control auto: set speed at 90degrees to 1 --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++-- src/modules/mc_pos_control/mc_pos_control_params.c | 6 +++--- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 18e957c86b..dbe2ccbff1 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1550,8 +1550,8 @@ void MulticopterPositionControl::control_auto(float dt) * the velocity at target should be 1/5 * cruising speed; * angle = 2 -> vel_close = min_cruising_speed */ - /* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 */ - float middle_cruise_speed = get_cruising_speed_xy() / 5.0f; + /* middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle = 1.0 = 90degrees */ + float middle_cruise_speed = 1.0f; /* make sure min cruise speed is always smaller than middle cruise speed but larger than 0*/ float min_cruise_speed = (_min_cruise_speed.get() < middle_cruise_speed) ? _min_cruise_speed.get() : middle_cruise_speed diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index da1f938caf..adeea69b6a 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -252,13 +252,13 @@ PARAM_DEFINE_FLOAT(MPC_XY_CRUISE, 5.0f); * position stabilized mode (POSCTRL). * * @unit m/s - * @min 0.5 - * @max 8.0 + * @min 0.05 + * @max 1.0 * @increment 1 * @decimal 2 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 1.0f); +PARAM_DEFINE_FLOAT(MPC_CRUISE_MIN, 0.5f); /** * Maximum horizontal velocity setpoint for manual controlled mode