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Jerk-limited auto mode - use MPC_ACC_HOR instead of MPC_ACC_HOR_MAX

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as written in the parameter desctiption
This commit is contained in:
bresch
2019-06-13 10:19:15 +02:00
committed by Beat Küng
parent a4a130fe53
commit 83d90410ff
2 changed files with 2 additions and 3 deletions
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src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.cpp
+2 -2
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@@ -199,8 +199,8 @@ void FlightTaskAutoLineSmoothVel::_prepareSetpoints()
void FlightTaskAutoLineSmoothVel::_updateTrajConstraints()
{
// Update the constraints of the trajectories
_trajectory[0].setMaxAccel(_param_mpc_acc_hor_max.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxAccel(_param_mpc_acc_hor_max.get());
_trajectory[0].setMaxAccel(_param_mpc_acc_hor.get()); // TODO : Should be computed using heading
_trajectory[1].setMaxAccel(_param_mpc_acc_hor.get());
_trajectory[0].setMaxVel(_param_mpc_xy_vel_max.get());
_trajectory[1].setMaxVel(_param_mpc_xy_vel_max.get());
_trajectory[0].setMaxJerk(_param_mpc_jerk_auto.get()); // TODO : Should be computed using heading
src/lib/FlightTasks/tasks/AutoLineSmoothVel/FlightTaskAutoLineSmoothVel.hpp
-1
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@@ -59,7 +59,6 @@ protected:
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, // acceleration in flight
(ParamFloat<px4::params::MPC_ACC_UP_MAX>) _param_mpc_acc_up_max,
(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) _param_mpc_acc_down_max,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_JERK_AUTO>) _param_mpc_jerk_auto,
(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
(ParamFloat<px4::params::MPC_Z_TRAJ_P>) _param_mpc_z_traj_p