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FlightTaskManualAltitude: add an optional stick tilt input filter

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This commit is contained in:
Matthias Grob
2020-05-20 19:30:19 +02:00
parent 1a3c692e4e
commit 17d4fd064f
2 changed files with 9 additions and 1 deletions
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src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+4
View File
@@ -341,6 +341,10 @@ void FlightTaskManualAltitude::_updateSetpoints()
// setpoint along z-direction, which is computed in PositionControl.cpp. // setpoint along z-direction, which is computed in PositionControl.cpp.
Vector2f sp(&_sticks(0)); Vector2f sp(&_sticks(0));
_man_input_filter.setParameters(_deltatime, _param_mc_man_tilt_tau.get());
_man_input_filter.update(sp);
sp = _man_input_filter.getState();
_rotateIntoHeadingFrame(sp); _rotateIntoHeadingFrame(sp);
if (sp.length() > 1.0f) { if (sp.length() > 1.0f) {
src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
+5 -1
View File
@@ -40,6 +40,7 @@
#pragma once #pragma once
#include "FlightTaskManual.hpp" #include "FlightTaskManual.hpp"
#include <lib/ecl/EKF/AlphaFilter.hpp>
class FlightTaskManualAltitude : public FlightTaskManual class FlightTaskManualAltitude : public FlightTaskManual
{ {
@@ -83,7 +84,8 @@ protected:
(ParamFloat<px4::params::MPC_LAND_SPEED>) (ParamFloat<px4::params::MPC_LAND_SPEED>)
_param_mpc_land_speed, /**< desired downwards speed when approaching the ground */ _param_mpc_land_speed, /**< desired downwards speed when approaching the ground */
(ParamFloat<px4::params::MPC_TKO_SPEED>) (ParamFloat<px4::params::MPC_TKO_SPEED>)
_param_mpc_tko_speed /**< desired upwards speed when still close to the ground */ _param_mpc_tko_speed, /**< desired upwards speed when still close to the ground */
(ParamFloat<px4::params::MC_MAN_TILT_TAU>) _param_mc_man_tilt_tau
) )
private: private:
bool _isYawInput(); bool _isYawInput();
@@ -137,4 +139,6 @@ private:
* _dist_to_ground_lock. * _dist_to_ground_lock.
*/ */
float _dist_to_ground_lock = NAN; float _dist_to_ground_lock = NAN;
AlphaFilter<matrix::Vector2f> _man_input_filter;
}; };