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MC: set default MPC_THR_MAX & MPC_MANTHR_MAX to 1

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With the updated mixer (#9062) it's safe to set maximum thrust to 1 (in
both cases, if MC_AIRMODE is set, or not set).
So I see no reason to limit the maximum thrust.
This commit is contained in:
Beat Küng
2018-04-23 15:20:32 +02:00
committed by Roman Bapst
parent f2cee9970c
commit 12e967173d
1 changed files with 6 additions and 11 deletions
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src/modules/mc_pos_control/mc_pos_control_params.c
+6 -11
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@@ -74,24 +74,22 @@ PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/** /**
* Maximum thrust in auto thrust control * Maximum thrust in auto thrust control
* *
* Limit max allowed thrust. Setting a value of one can put * Limit max allowed thrust
* the system into actuator saturation as no spread between
* the motors is possible any more. A value of 0.8 - 0.9
* is recommended.
* *
* @unit norm * @unit norm
* @min 0.0 * @min 0.0
* @max 0.95 * @max 1.0
* @decimal 2 * @decimal 2
* @increment 0.01 * @increment 0.01
* @group Multicopter Position Control * @group Multicopter Position Control
*/ */
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f); PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
/** /**
* Minimum manual thrust * Minimum manual thrust
* *
* Minimum vertical thrust. It's recommended to set it > 0 to avoid free fall with zero 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 * @unit norm
* @min 0.0 * @min 0.0
@@ -105,10 +103,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
/** /**
* Maximum manual thrust * Maximum manual thrust
* *
* Limit max allowed thrust. Setting a value of one can put * Limit max allowed thrust for Manual mode.
* the system into actuator saturation as no spread between
* the motors is possible any more. A value of 0.8 - 0.9
* is recommended.
* *
* @unit norm * @unit norm
* @min 0.0 * @min 0.0
@@ -117,7 +112,7 @@ PARAM_DEFINE_FLOAT(MPC_MANTHR_MIN, 0.08f);
* @increment 0.01 * @increment 0.01
* @group Multicopter Position Control * @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 * Proportional gain for vertical position error