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change altctl throttle deadband to 2 point curve

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This commit is contained in:
Mark Whitehorn
2016-02-17 15:21:37 +01:00
committed by tumbili
parent 770c020117
commit 101ac63737
1 changed files with 9 additions and 8 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+9 -8
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@@ -121,7 +121,8 @@ public:
int start();
private:
const float alt_ctl_dz = 0.1f;
const float alt_ctl_dz = 0.1f;
const float alt_ctl_dy = 0.05f;
bool _task_should_exit; /**< if true, task should exit */
int _control_task; /**< task handle for task */
@@ -268,7 +269,7 @@ private:
*/
void poll_subscriptions();
static float scale_control(float ctl, float end, float dz);
static float scale_control(float ctl, float end, float dz, float dy);
/**
* Update reference for local position projection
@@ -635,16 +636,16 @@ MulticopterPositionControl::poll_subscriptions()
}
float
MulticopterPositionControl::scale_control(float ctl, float end, float dz)
MulticopterPositionControl::scale_control(float ctl, float end, float dz, float dy)
{
if (ctl > dz) {
return (ctl - dz) / (end - dz);
return dy + (ctl - dz) * (1.0f - dy) / (end - dz);
} else if (ctl < -dz) {
return (ctl + dz) / (end - dz);
return -dy + (ctl + dz) * (1.0f - dy) / (end - dz);
} else {
return 0.0f;
return ctl * (dy / dz);
}
}
@@ -737,8 +738,8 @@ MulticopterPositionControl::control_manual(float dt)
if (_control_mode.flag_control_altitude_enabled) {
/* set vertical velocity setpoint with throttle stick */
req_vel_sp(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz); // D
}
req_vel_sp(2) = -scale_control(_manual.z - 0.5f, 0.5f, alt_ctl_dz, alt_ctl_dy); // D
}
if (_control_mode.flag_control_position_enabled) {
/* set horizontal velocity setpoint with roll/pitch stick */