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Merge pull request #2343 from PX4/mc_thrust_fix

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Update MC thrust limit default param value and add explanation
This commit is contained in:
Lorenz Meier
2015-06-12 15:09:36 +02:00
parent 540ffa7861 267fb408b1
commit bca13e3e1b
1 changed files with 5 additions and 2 deletions
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7
src/modules/mc_pos_control/mc_pos_control_params.c
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@@ -55,13 +55,16 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.1f);
/**
* Maximum thrust
*
* Limit max allowed 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.
*
* @min 0.0
* @max 1.0
* @group Multicopter Position Control
*/
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.0f);
PARAM_DEFINE_FLOAT(MPC_THR_MAX, 0.9f);
/**
* Proportional gain for vertical position error