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ManualPosition: Limit horizontal speed during landing

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bresch
2019-11-21 18:20:13 +01:00
committed by Matthias Grob
parent 944bf54d84
commit 4ba672a7ba
7 changed files with 56 additions and 20 deletions
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2
src/lib/flight_tasks/tasks/ManualPosition/FlightTaskManualPosition.hpp
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@@ -65,11 +65,13 @@ protected:
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskManualAltitude,
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
(ParamFloat<px4::params::MPC_LAND_VEL_XY>) _param_mpc_land_vel_xy,
(ParamFloat<px4::params::MPC_ACC_HOR_MAX>) _param_mpc_acc_hor_max,
(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
(ParamFloat<px4::params::MPC_ACC_HOR_ESTM>) _param_mpc_acc_hor_estm
)
private:
float _computeVelXYGroundDist();
float _velocity_scale{0.0f}; //scales the stick input to velocity
uint8_t _reset_counter{0}; /**< counter for estimator resets in xy-direction */