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Omni Att-Ctrl: New parameters for fixed tilt and fixed roll/pitch

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- OMNI_ATT_TLT_ANG
- OMNI_ATT_TLT_DIR
- OMNI_ATT_ROLL
- OMNI_ATT_PITCH
This commit is contained in:
Azarakhsh Keipour
2020-07-13 13:48:44 -04:00
parent 725fff3052
commit 03e7435fbe
2 changed files with 66 additions and 3 deletions
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src/modules/mc_att_control/mc_att_control_params.c
+60 -2
View File
@@ -172,14 +172,72 @@ PARAM_DEFINE_FLOAT(OMNI_DFC_MAX_THR, 0.15f);
* used for omnidirectional vehicles. The min-tilt mode enforces zero tilt
* up to a maximum set acceleration (thrust) and tilts the vehicle as small
* as possible if the thrust vector is larger than the maximum. The "constant
* tilt" mode enforces a given tilt angle and tilt direction for the vehicle.
* tilt" and "constant roll/pitch" modes enforce a given tilt or roll/pitch
* for the vehicle. The estimation modes estimate the optimal tilt or roll/pitch
* to counteract with the external force (e.g., wind).
*
* @min 0
* @max 3
* @max 6
* @value 0 tilted attitude
* @value 1 min-tilt attitude
* @value 2 constant zero tilt
* @value 3 constant tilt
* @value 4 constant roll/pitch
* @value 5 estimate tilt
* @value 6 estimate roll/pitch
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_INT32(OMNI_ATT_MODE, 0);
/**
* Omni-directional attitude setpoint tilt angle
*
* Specifies the tilt angle in degrees for the constant-tilt attitude
* setpoint generation mode (OMNI_ATT_MODE=3).
*
* @min 0
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_ANG, 15.0f);
/**
* Omni-directional attitude setpoint tilt direction angle
*
* Specifies the direction of the tilt in degrees for the constant-tilt
* attitude setpoint generation mode (OMNI_ATT_MODE=3). The direction is
* measured from North.
*
* @min -360
* @max 360
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_TLT_DIR, 0.0f);
/**
* Omni-directional attitude setpoint roll angle
*
* Specifies the roll angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_ROLL, 0.0f);
/**
* Omni-directional attitude setpoint pitch angle
*
* Specifies the pitch angle in degrees for the constant-roll/pitch attitude
* setpoint generation mode (OMNI_ATT_MODE=4).
*
* @min -90
* @max 90
* @decimal 2
* @group Multicopter Attitude Control
*/
PARAM_DEFINE_FLOAT(OMNI_ATT_PITCH, 0.0f);
src/modules/mc_pos_control/mc_pos_control_main.cpp
+6 -1
View File
@@ -174,8 +174,13 @@ private:
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd, /**< maximum tilt for landing and smooth takeoff */
(ParamFloat<px4::params::MPC_THR_MIN>) _param_mpc_thr_min,
(ParamFloat<px4::params::MPC_THR_MAX>) _param_mpc_thr_max,
(ParamInt<px4::params::OMNI_ATT_MODE>) _param_omni_att_mode,
(ParamFloat<px4::params::OMNI_DFC_MAX_THR>) _param_omni_dfc_max_thr
(ParamFloat<px4::params::OMNI_DFC_MAX_THR>) _param_omni_dfc_max_thr,
(ParamFloat<px4::params::OMNI_ATT_TLT_ANG>) _param_omni_att_tilt_angle,
(ParamFloat<px4::params::OMNI_ATT_TLT_DIR>) _param_omni_att_tilt_dir,
(ParamFloat<px4::params::OMNI_ATT_ROLL>) _param_omni_att_roll,
(ParamFloat<px4::params::OMNI_ATT_PITCH>) _param_omni_att_pitch
);
control::BlockDerivative _vel_x_deriv; /**< velocity derivative in x */