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MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1 #9359

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Apr 26, 2018
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MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1 #9359

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17 changes: 6 additions & 11 deletions src/modules/mc_pos_control/mc_pos_control_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -74,24 +74,22 @@ PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* Maximum thrust in auto thrust control
*
* Limit max allowed thrust. Setting a value of one can put
* the system into actuator saturation as no spread between
* the motors is possible any more. A value of 0.8 - 0.9
* is recommended.
* Limit max allowed thrust
*
* @unit norm
* @min 0.0
* @max 0.95
* @max 1.0
* @decimal 2
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);

/**
* Minimum manual thrust
*
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero thrust.
* With MC_AIRMODE set to 1, this can safely be set to 0.
*
* @unit norm
* @min 0.0
Expand All @@ -105,10 +103,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
/**
* Maximum manual thrust
*
* Limit max allowed thrust. Setting a value of one can put
* the system into actuator saturation as no spread between
* the motors is possible any more. A value of 0.8 - 0.9
* is recommended.
* Limit max allowed thrust for Manual mode.
*
* @unit norm
* @min 0.0
Expand All @@ -117,7 +112,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
* @increment 0.01
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 0.9f);
PARAM_DEFINE_FLOAT(MPC_MANTHR_MAX, 1.0f);

/**
* Proportional gain for vertical position error
Expand Down