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StickYaw: use consistently for all flight tasks

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- Switching to the first order filter that was previously
only in FlightTaskManualAltitude.
- Moving the scaling of full stick deflection to
radians per second into the class.
This commit is contained in:
Matthias Grob
2023-03-02 12:06:40 +01:00
parent 0c1f340154
commit 21d580293a
10 changed files with 42 additions and 62 deletions
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src/modules/flight_mode_manager/tasks/Auto/CMakeLists.txt
+1 -1
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@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
# Copyright (c) 2018-2023 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+4 -4
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -243,9 +243,9 @@ void FlightTaskAuto::_prepareLandSetpoints()
vertical_speed *= (1 + _sticks.getPositionExpo()(2));
// Only set a yawrate setpoint if weather vane is not active or the yaw stick is out of its dead-zone
if (!_weathervane.isActive() || fabsf(_sticks.getPositionExpo()(3)) > FLT_EPSILON) {
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _land_heading,
_sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _is_yaw_good_for_control, _deltatime);
if (!_weathervane.isActive() || fabsf(_sticks.getYawExpo()) > FLT_EPSILON) {
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _land_heading, _sticks.getYawExpo(), _yaw, _is_yaw_good_for_control,
_deltatime);
}
_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _land_heading, _position,
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+3 -4
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
* Copyright (c) 2018-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -142,7 +142,7 @@ protected:
Vector3f _unsmoothed_velocity_setpoint;
Sticks _sticks{this};
StickAccelerationXY _stick_acceleration_xy{this};
StickYaw _stick_yaw;
StickYaw _stick_yaw{this};
matrix::Vector3f _land_position;
float _land_heading;
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
@@ -176,8 +176,7 @@ protected:
(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
_param_mpc_tko_ramp_t, // time constant for smooth takeoff ramp
(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
);
private: