change angle parmeter to degrees

PX4 · Aug 7, 2019 · e91614c · e91614c
1 parent f80a539
commit e91614c
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/lib/CollisionPrevention/CollisionPrevention.cpp b/src/lib/CollisionPrevention/CollisionPrevention.cpp
@@ -215,7 +215,8 @@ void CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint,
 					//check if the bin must be considered regarding the given stick input
 					Vector2f bin_direction = {cos(angle), sin(angle)};
 
-					if (setpoint_dir.dot(bin_direction) > 0 && setpoint_dir.dot(bin_direction) > cosf(_param_mpc_col_prev_ang.get())) {
+					if (setpoint_dir.dot(bin_direction) > 0
+					    && setpoint_dir.dot(bin_direction) > cosf(math::radians(_param_mpc_col_prev_ang.get()))) {
 						//calculate max allowed velocity with a P-controller (same gain as in the position controller)
 						float curr_vel_parallel = math::max(0.f, curr_vel.dot(bin_direction));
 						float delay_distance = curr_vel_parallel * _param_mpc_col_prev_dly.get();

diff --git a/src/lib/CollisionPrevention/collisionprevention_params.c b/src/lib/CollisionPrevention/collisionprevention_params.c
@@ -64,13 +64,13 @@ PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, -1.0f);
 PARAM_DEFINE_FLOAT(MPC_COL_PREV_DLY, 0.f);
 
 /**
- * Angle at which the vehicle can fly away from obstacles
+ * Angle left/right from the commanded setpoint in which the range data is used to calculate speed limitations. All data further from the commanded direction is not considered.
  *
  * Only used in Position mode.
  *
  * @min 0
- * @max 1.570796
- * @unit [rad]
+ * @max 90
+ * @unit [deg]
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(MPC_COL_PREV_ANG, 0.785f);
+PARAM_DEFINE_FLOAT(MPC_COL_PREV_ANG, 45.f);