Max tilt angle parameter for Attitude Controller

[crest_wave]

Hello,

I’m trying to understand how the “MPC_MAN_TILT_MAX” is used in the attitude controller for the stabilized mode.
Is the parameter multiplied by the transmitter stick command value (-1 to 1) before the command goes to the attitude controller?

[bresch]

@crest_wave

Is the parameter multiplied by the transmitter stick command value (-1 to 1) before the command goes to the attitude controller?

Yes, that’s correct.

[MaEtUgR]

@crest_wave In case you’re interested, that’s where it’s implemented in the code: https://github.com/PX4/Firmware/blob/9cd8bb4f889f1cda33941a99056061b0e5d2b9bf/src/modules/mc_att_control/mc_att_control_main.cpp#L146-L165

[crest_wave]

@bresch

Yes, that’s correct.

Thank you very much for your reply!

@MaEtUgR

In case you’re interested, that’s where it’s implemented in the code: PX4-Autopilot/src/modules/mc_att_control/mc_att_control_main.cpp at 9cd8bb4f889f1cda33941a99056061b0e5d2b9bf · PX4/PX4-Autopilot · GitHub

That was exactly to the answer to my next question.
I really appreciate your help.