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Add Pos Control Jerk Limit Macro #8038

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May 16, 2022
Merged

Add Pos Control Jerk Limit Macro #8038

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2 changes: 1 addition & 1 deletion src/main/navigation/navigation_multicopter.c
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Expand Up @@ -554,7 +554,7 @@ static void updatePositionAccelController_MC(timeDelta_t deltaMicros, float maxA
// Apply additional jerk limiting of 1700 cm/s^3 (~100 deg/s), almost any copter should be able to achieve this rate
// This will assure that we wont't saturate out LEVEL and RATE PID controller

float maxAccelChange = US2S(deltaMicros) * 1700.0f;
float maxAccelChange = US2S(deltaMicros) * MC_POS_CONTROL_JERK_LIMIT_CMSSS;
//When braking, raise jerk limit even if we are not boosting acceleration
#ifdef USE_MR_BRAKING_MODE
if (STATE(NAV_CRUISE_BRAKING)) {
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2 changes: 2 additions & 0 deletions src/main/navigation/navigation_private.h
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Expand Up @@ -37,6 +37,8 @@

#define INAV_SURFACE_MAX_DISTANCE 40

#define MC_POS_CONTROL_JERK_LIMIT_CMSSS 1700.0f // jerk limit on horizontal acceleration (cm/s^3)

#define MC_LAND_CHECK_VEL_XY_MOVING 100.0f // cm/s
#define MC_LAND_CHECK_VEL_Z_MOVING 25.0f // cm/s
#define MC_LAND_THR_STABILISE_DELAY 1 // seconds
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