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Remove MPC_USE_HTE and always use hover thrust for altitude control (#24751)

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* Remove `MPC_USE_HTE` and always use hover thrust for altitude control

Note the separate module can still be not run but I have not seen a case where the hover thrust estimate is not useful for altitude control hence I don't expect anyone to have the parameter disabled or planning on not running the module.

This parameter was used to experimentally introduce the hover thrust estimator. First it was just logging its status and you could opt in to use it:
f9794e99f897b842e74a370e5fa77c281aeddce5
but soon after it became the default and you had to opt out of using it:
a8063ac94867c2990b0a80c6fdf0dccc835c3356
AFAIK we haven't seen problems requiring to disable it in the last 5 years and hence I suggest to remove the parameter to reduce the configuration space.

* Update src/modules/land_detector/MulticopterLandDetector.cpp

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* undo docs changes

* change redundant update() calls to copy()

---------

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Matthias Grob 2026-02-19 21:17:57 +01:00 committed by GitHub
parent 62f5f5267e
commit 0d66981dcc
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GPG Key ID: B5690EEEBB952194
5 changed files with 17 additions and 44 deletions
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31
src/modules/land_detector/MulticopterLandDetector.cpp
View File

@ -77,8 +77,7 @@ MulticopterLandDetector::MulticopterLandDetector()
{
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.useHoverThrustEstimate = param_find("MPC_USE_HTE");
_paramHandle.hoverThrottle = param_find("MPC_THR_HOVER");
_paramHandle.mpc_thr_hover = param_find("MPC_THR_HOVER");
_paramHandle.landSpeed = param_find("MPC_LAND_SPEED");
_paramHandle.crawlSpeed = param_find("MPC_LAND_CRWL");
_minimum_thrust_8s_hysteresis.set_hysteresis_time_from(false, 8_s);
@ -99,12 +98,12 @@ void MulticopterLandDetector::_update_topics()
_flag_control_climb_rate_enabled = vehicle_control_mode.flag_control_climb_rate_enabled;
}
if (_params.useHoverThrustEstimate) {
if (_hover_thrust_estimate_sub.updated()) {
hover_thrust_estimate_s hte;
if (_hover_thrust_estimate_sub.update(&hte)) {
if (_hover_thrust_estimate_sub.copy(&hte)) {
if (hte.valid) {
_params.hoverThrottle = hte.hover_thrust;
_hover_thrust_estimate = hte.hover_thrust;
_hover_thrust_estimate_last_valid = hte.timestamp;
}
}
@ -138,6 +137,7 @@ void MulticopterLandDetector::_update_topics()
void MulticopterLandDetector::_update_params()
{
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.mpc_thr_hover, &_params.mpc_thr_hover);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.landSpeed, &_params.landSpeed);
param_get(_paramHandle.crawlSpeed, &_params.crawlSpeed);
@ -152,21 +152,6 @@ void MulticopterLandDetector::_update_params()
_param_lndmc_z_vel_max.set(lndmc_upper_threshold);
_param_lndmc_z_vel_max.commit_no_notification();
}
int32_t use_hover_thrust_estimate = 0;
param_get(_paramHandle.useHoverThrustEstimate, &use_hover_thrust_estimate);
_params.useHoverThrustEstimate = (use_hover_thrust_estimate == 1);
if (!_params.useHoverThrustEstimate || !_hover_thrust_initialized) {
param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);
// HTE runs based on the position controller so, even if we wish to use
// the estimate, it is only available in altitude and position modes.
// Therefore, we need to always initialize the hoverThrottle using the hover
// thrust parameter in case we fly in stabilized
// TODO: this can be removed once HTE runs in all modes
_hover_thrust_initialized = true;
}
}
bool MulticopterLandDetector::_get_freefall_state()
@ -234,7 +219,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// low thrust: 30% of throttle range between min and hover, relaxed to 60% if hover thrust estimate available
const float thr_pct_hover = _hover_thrust_estimate_valid ? 0.6f : 0.3f;
const float sys_low_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * thr_pct_hover;
const float hover_thrust = PX4_ISFINITE(_hover_thrust_estimate) ? _hover_thrust_estimate : _params.mpc_thr_hover;
const float sys_low_throttle = _params.minThrottle + (hover_thrust - _params.minThrottle) * thr_pct_hover;
_has_low_throttle = (_vehicle_thrust_setpoint_throttle <= sys_low_throttle);
bool ground_contact = _has_low_throttle;
@ -278,7 +264,8 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
if (_flag_control_climb_rate_enabled) {
// 10% of throttle range between min and hover
minimum_thrust_threshold = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * 0.1f;
const float hover_thrust = PX4_ISFINITE(_hover_thrust_estimate) ? _hover_thrust_estimate : _params.mpc_thr_hover;
minimum_thrust_threshold = _params.minThrottle + (hover_thrust - _params.minThrottle) * 0.1f;
} else {
minimum_thrust_threshold = (_params.minManThrottle + 0.01f);

8
src/modules/land_detector/MulticopterLandDetector.h
View File

@ -82,18 +82,16 @@ private:
struct {
param_t minThrottle;
param_t hoverThrottle;
param_t mpc_thr_hover;
param_t minManThrottle;
param_t useHoverThrustEstimate;
param_t landSpeed;
param_t crawlSpeed;
} _paramHandle{};
struct {
float minThrottle;
float hoverThrottle;
float mpc_thr_hover;
float minManThrottle;
bool useHoverThrustEstimate;
float landSpeed;
float crawlSpeed;
} _params{};
@ -105,11 +103,11 @@ private:
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
float _hover_thrust_estimate{NAN};
hrt_abstime _hover_thrust_estimate_last_valid{0};
bool _hover_thrust_estimate_valid{false};
bool _flag_control_climb_rate_enabled{false};
bool _hover_thrust_initialized{false};
float _vehicle_thrust_setpoint_throttle{0.f};

8
src/modules/mc_pos_control/MulticopterPositionControl.cpp
View File

@ -294,7 +294,7 @@ void MulticopterPositionControl::parameters_update(bool force)
"Hover thrust has been constrained by min/max thrust", _param_mpc_thr_hover.get());
}
if (!_param_mpc_use_hte.get() || !_hover_thrust_initialized) {
if (!_hover_thrust_initialized) {
_control.setHoverThrust(_param_mpc_thr_hover.get());
_hover_thrust_initialized = true;
}
@ -403,7 +403,7 @@ void MulticopterPositionControl::Run()
if (_vehicle_control_mode_sub.updated()) {
const bool previous_position_control_enabled = _vehicle_control_mode.flag_multicopter_position_control_enabled;
if (_vehicle_control_mode_sub.update(&_vehicle_control_mode)) {
if (_vehicle_control_mode_sub.copy(&_vehicle_control_mode)) {
if (!previous_position_control_enabled && _vehicle_control_mode.flag_multicopter_position_control_enabled) {
_time_position_control_enabled = _vehicle_control_mode.timestamp;
@ -417,10 +417,10 @@ void MulticopterPositionControl::Run()
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
if (_param_mpc_use_hte.get()) {
if (_hover_thrust_estimate_sub.updated()) {
hover_thrust_estimate_s hte;
if (_hover_thrust_estimate_sub.update(&hte)) {
if (_hover_thrust_estimate_sub.copy(&hte)) {
if (hte.valid) {
_control.updateHoverThrust(hte.hover_thrust);
}

1
src/modules/mc_pos_control/MulticopterPositionControl.hpp
View File

@ -150,7 +150,6 @@ private:
(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
(ParamFloat<px4::params::MPC_TILTMAX_AIR>) _param_mpc_tiltmax_air,
(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover,
(ParamBool<px4::params::MPC_USE_HTE>) _param_mpc_use_hte,
(ParamBool<px4::params::MPC_ACC_DECOUPLE>) _param_mpc_acc_decouple,
(ParamFloat<px4::params::MPC_VEL_LP>) _param_mpc_vel_lp,

13
src/modules/mc_pos_control/multicopter_position_control_params.c
View File

@ -35,7 +35,7 @@
* Vertical thrust required to hover
*
* Mapped to center throttle stick in Stabilized mode (see MPC_THR_CURVE).
* Used for initialization of the hover thrust estimator (see MPC_USE_HTE).
* Used for initialization of the hover thrust estimator.
* The estimated hover thrust is used as base for zero vertical acceleration in altitude control.
* The hover thrust is important for land detection to work correctly.
*
@ -48,17 +48,6 @@
*/
PARAM_DEFINE_FLOAT(MPC_THR_HOVER, 0.5f);
/**
* Use hover thrust estimate for altitude control
*
* Disable to use the fixed parameter MPC_THR_HOVER instead of the hover thrust estimate in the position controller.
* This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
*
* @boolean
* @group Multicopter Position Control
*/
PARAM_DEFINE_INT32(MPC_USE_HTE, 1);
/**
* Horizontal thrust margin
*