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Use nominal throttle value is available (#1917)

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This commit is contained in:
Kirk Scheper
2016-10-29 17:15:17 +02:00
committed by Gautier Hattenberger
parent 44f15c363d
commit bf06b11860
1 changed files with 7 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c
+7 -2
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@@ -36,12 +36,17 @@
/** Initial hover throttle as factor of MAX_PPRZ. /** Initial hover throttle as factor of MAX_PPRZ.
* Should be a value between #GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE and * Should be a value between #GUIDANCE_V_ADAPT_MIN_HOVER_THROTTLE and
* #GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE. * #GUIDANCE_V_ADAPT_MAX_HOVER_THROTTLE.
* It is better to start with low thrust and let it rise as the adaptive filter * If the nominal hover throttle is defined use it otherwise it is better
* finds the vehicle needs more thrust. * to start with low thrust and let it rise as the adaptive filter finds
* the vehicle needs more thrust.
*/ */
#ifndef GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE #ifndef GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE
#ifdef GUIDANCE_V_NOMINAL_HOVER_THROTTLE
#define GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE GUIDANCE_V_NOMINAL_HOVER_THROTTLE
#else
#define GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE 0.3 #define GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE 0.3
#endif #endif
#endif
PRINT_CONFIG_VAR(GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE) PRINT_CONFIG_VAR(GUIDANCE_V_ADAPT_INITIAL_HOVER_THROTTLE)
/** Minimum hover throttle as factor of MAX_PPRZ. /** Minimum hover throttle as factor of MAX_PPRZ.