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mc: add SYS_VEHICLE_RESP param to configure vehicle responsiveness

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This commit is contained in:
Beat Küng
2021-02-03 13:25:37 +01:00
committed by Lorenz Meier
parent 2a0a82fd90
commit 14bf9cf753
4 changed files with 126 additions and 1 deletions
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src/modules/mc_pos_control/MulticopterPositionControl.cpp
+51
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@@ -88,6 +88,57 @@ int MulticopterPositionControl::parameters_update(bool force)
ModuleParams::updateParams();
SuperBlock::updateParams();
int num_changed = 0;
if (_param_sys_vehicle_resp.get() >= 0.f) {
// make it less sensitive at the lower end
float responsiveness = _param_sys_vehicle_resp.get() * _param_sys_vehicle_resp.get();
num_changed += _param_mpc_acc_hor.commit_no_notification(math::lerp(1.f, 15.f, responsiveness));
num_changed += _param_mpc_acc_hor_max.commit_no_notification(math::lerp(2.f, 15.f, responsiveness));
num_changed += _param_mpc_man_y_max.commit_no_notification(math::lerp(80.f, 450.f, responsiveness));
if (responsiveness > 0.6f) {
num_changed += _param_mpc_man_y_tau.commit_no_notification(0.f);
} else {
num_changed += _param_mpc_man_y_tau.commit_no_notification(math::lerp(0.5f, 0.f, responsiveness / 0.6f));
}
if (responsiveness < 0.5f) {
num_changed += _param_mpc_tiltmax_air.commit_no_notification(45.f);
} else {
num_changed += _param_mpc_tiltmax_air.commit_no_notification(math::min(MAX_SAFE_TILT_DEG, math::lerp(45.f, 70.f,
(responsiveness - 0.5f) * 2.f)));
}
num_changed += _param_mpc_acc_down_max.commit_no_notification(math::lerp(0.8f, 15.f, responsiveness));
num_changed += _param_mpc_acc_up_max.commit_no_notification(math::lerp(1.f, 15.f, responsiveness));
num_changed += _param_mpc_jerk_max.commit_no_notification(math::lerp(2.f, 50.f, responsiveness));
num_changed += _param_mpc_jerk_auto.commit_no_notification(math::lerp(1.f, 25.f, responsiveness));
}
if (_param_mpc_xy_vel_all.get() >= 0.f) {
float xy_vel = _param_mpc_xy_vel_all.get();
num_changed += _param_mpc_vel_manual.commit_no_notification(xy_vel);
num_changed += _param_mpc_xy_cruise.commit_no_notification(xy_vel);
num_changed += _param_mpc_xy_vel_max.commit_no_notification(xy_vel);
num_changed += _param_mpc_land_vel_xy.commit_no_notification(xy_vel * 0.75f);
}
if (_param_mpc_z_vel_all.get() >= 0.f) {
float z_vel = _param_mpc_z_vel_all.get();
num_changed += _param_mpc_z_vel_max_up.commit_no_notification(z_vel);
num_changed += _param_mpc_z_vel_max_dn.commit_no_notification(z_vel * 0.75f);
num_changed += _param_mpc_tko_speed.commit_no_notification(z_vel * 0.6f);
num_changed += _param_mpc_land_speed.commit_no_notification(z_vel * 0.5f);
}
if (num_changed > 0) {
param_notify_changes();
}
if (_param_mpc_tiltmax_air.get() > MAX_SAFE_TILT_DEG) {
_param_mpc_tiltmax_air.set(MAX_SAFE_TILT_DEG);
_param_mpc_tiltmax_air.commit();