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mc_att_control: 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 6c16a29d26
commit 1a3c692e4e
3 changed files with 28 additions and 6 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+10 -2
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@@ -154,8 +154,12 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
* This allows a simple limitation of the tilt angle, the vehicle flies towards the direction that the stick
* points to, and changes of the stick input are linear.
*/
const float x = _manual_control_sp.x * _man_tilt_max;
const float y = _manual_control_sp.y * _man_tilt_max;
_man_x_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_y_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_x_input_filter.update(_manual_control_sp.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_sp.y * _man_tilt_max);
const float x = _man_x_input_filter.getState();
const float y = _man_y_input_filter.getState();
// we want to fly towards the direction of (x, y), so we use a perpendicular axis angle vector in the XY-plane
Vector2f v = Vector2f(y, -x);
@@ -322,6 +326,10 @@ MulticopterAttitudeControl::Run()
generate_attitude_setpoint(dt, _reset_yaw_sp);
attitude_setpoint_generated = true;
} else {
_man_x_input_filter.reset(0.f);
_man_y_input_filter.reset(0.f);
}
control_attitude();