From e6d332aa7cd038b00643a70d99e82d60b7ffbcf0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 27 Apr 2014 15:50:53 +0200 Subject: [PATCH 1/2] Make commander less pedantic about position status --- src/modules/commander/commander.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3527117341..53ed34f46b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -117,7 +117,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT 30000 /**< consider the local or global position estimate invalid after 30ms */ +#define POSITION_TIMEOUT 100000 /**< consider the local or global position estimate invalid after 100ms */ #define RC_TIMEOUT 500000 #define DIFFPRESS_TIMEOUT 2000000 From 08408594ec3f136bdcf554a2a75c2e0af8e03c8c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 27 Apr 2014 16:06:34 +0200 Subject: [PATCH 2/2] Renamed parameters which changed from RAD to DEGREES to avoid user confusion. Also made naming of the two parameters more consistent. --- .../mc_pos_control/mc_pos_control_params.c | 25 ++++++++++--------- 1 file changed, 13 insertions(+), 12 deletions(-) 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 fe0004ea8a..104df4e59b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -174,34 +174,35 @@ PARAM_DEFINE_FLOAT(MPC_XY_VEL_MAX, 5.0f); 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 * @min 0.0 * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_TILT_MAX, 45.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_AIR, 45.0f); /** - * Landing descend rate + * Maximum tilt during landing * - * @unit m/s + * Limits maximum tilt angle on landing. + * + * @unit deg * @min 0.0 + * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); +PARAM_DEFINE_FLOAT(MPC_TILTMAX_LND, 15.0f); /** - * Maximum landing tilt - * - * Limits maximum tilt on landing. + * Landing descend rate * - * @unit deg + * @unit m/s * @min 0.0 - * @max 90.0 * @group Multicopter Position Control */ -PARAM_DEFINE_FLOAT(MPC_LAND_TILT, 15.0f); +PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 1.0f); +