Added bounds on the hover thrust

paparazzi · Aug 25, 2016 · 47067dd · 47067dd
1 parent 57c1193
commit 47067dd
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diff --git a/conf/airframes/TUDELFT/tudelft_outback.xml b/conf/airframes/TUDELFT/tudelft_outback.xml
@@ -193,6 +193,8 @@
     <define name="OUTBACK_P_ON_Q_COUPLING" value="6.0"/>
     <define name="OUTBACK_Q_ON_P_COUPLING" value="0.0"/>
     <define name="OUTBACK_GROUND_PITCH_CONTROL_GAIN" value="70000.0"/>
+    <define name="OUTBACK_MIN_HOVER_THROTTLE" value="4000"/>
+    <define name="OUTBACK_MAX_HOVER_THROTTLE" value="7700"/>
   </section>
 
   <section name="FORWARD">

diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -382,6 +382,8 @@ void guidance_v_run(bool in_flight)
         } else
 #endif
           stabilization_cmd[COMMAND_THRUST] = guidance_v_delta_t;
+
+        Bound(stabilization_cmd[COMMAND_THRUST], OUTBACK_MIN_HOVER_THROTTLE, OUTBACK_MAX_HOVER_THROTTLE);
       }
 
       break;